diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro
index 343bd7ad7415c1151f4a39f29436677ae978543a..9b8d7f1eeddfae40d3a31175f88265681c2e0a65 100644
--- a/franka_description/robots/panda.transmission.xacro
+++ b/franka_description/robots/panda.transmission.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="panda_transmission" params="robot_name">
+    <xacro:macro name="panda_transmission" params="robot_name load_hand">
 
 
         <!-- Load Gazebo lib and set the robot namespace -->
@@ -87,26 +87,28 @@
             </actuator>
         </transmission>
 
-        <transmission name="${robot_name}_leftfinger">
-            <type>transmission_interface/SimpleTransmission</type>
-            <joint name="${robot_name}_finger_joint1">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            </joint>
-            <actuator name="${robot_name}_finger_joint1">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                <mechanicalReduction>1</mechanicalReduction>
-            </actuator>
-        </transmission>
+        <xacro:if value="${load_hand}">
+            <transmission name="${robot_name}_leftfinger">
+                <type>transmission_interface/SimpleTransmission</type>
+                <joint name="${robot_name}_finger_joint1">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                </joint>
+                <actuator name="${robot_name}_finger_joint1">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <mechanicalReduction>1</mechanicalReduction>
+                </actuator>
+            </transmission>
 
-        <transmission name="${robot_name}_rightfinger">
-            <type>transmission_interface/SimpleTransmission</type>
-            <joint name="${robot_name}_finger_joint2">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            </joint>
-            <actuator name="${robot_name}_finger_joint2">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                <mechanicalReduction>1</mechanicalReduction>
-            </actuator>
-        </transmission>
+            <transmission name="${robot_name}_rightfinger">
+                <type>transmission_interface/SimpleTransmission</type>
+                <joint name="${robot_name}_finger_joint2">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                </joint>
+                <actuator name="${robot_name}_finger_joint2">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <mechanicalReduction>1</mechanicalReduction>
+                </actuator>
+            </transmission>
+        </xacro:if>
     </xacro:macro>
 </robot>
diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index cfb3c2346656bc8f4cb66918756c2cfebe0f4dac..2b247b62fc62a2375ff05c376b1315bbcd14a96c 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -1,5 +1,18 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
   <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
+
+  <!-- for simulation -->
+  <xacro:include filename="$(find franka_description)/robots/panda.gazebo.xacro"/>
+  <xacro:include filename="panda.transmission.xacro"/>
+  <!-- end for simulation -->
+
   <xacro:panda_arm />
+
+  <!-- for simulation -->
+  <xacro:arg name="robot_name" default="panda"/>
+  <xacro:panda_gazebo robot_name="$(arg robot_name)" />
+  <xacro:panda_transmission robot_name="$(arg robot_name)" load_hand="false" />
+  <!-- end for simulation -->
+
 </robot>
diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro
index e8e72fdce85aa40efa1cf6e9cae28b2fd81d17ca..65ac6b9fa17f55ffe5c22b90f4547293c575757a 100644
--- a/franka_description/robots/panda_arm_hand.urdf.xacro
+++ b/franka_description/robots/panda_arm_hand.urdf.xacro
@@ -5,7 +5,7 @@
 
   <!-- for simulation -->
   <xacro:include filename="$(find franka_description)/robots/panda.gazebo.xacro"/>
-  <xacro:include filename="$(find franka_description)/robots/panda.transmission.xacro"/>
+  <xacro:include filename="panda.transmission.xacro"/>
   <!-- end for simulation -->
 
   <xacro:panda_arm />
@@ -14,6 +14,6 @@
   <!-- for simulation -->
   <xacro:arg name="robot_name" default="panda"/>
   <xacro:panda_gazebo robot_name="$(arg robot_name)" />
-  <xacro:panda_transmission robot_name="$(arg robot_name)" />
+  <xacro:panda_transmission robot_name="$(arg robot_name)" load_hand="true" />
   <!-- end for simulation -->
 </robot>