diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro
index 9b8d7f1eeddfae40d3a31175f88265681c2e0a65..f29313877d62e86a3f95779428c1c38783643a92 100644
--- a/franka_description/robots/panda.transmission.xacro
+++ b/franka_description/robots/panda.transmission.xacro
@@ -13,10 +13,10 @@
         <transmission name="${robot_name}_tran_1">
             <type>transmission_interface/SimpleTransmission</type>
             <joint name="${robot_name}_joint1">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
             <actuator name="${robot_name}_motor_1">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
             </actuator>
         </transmission>
@@ -24,10 +24,10 @@
         <transmission name="${robot_name}_tran_2">
             <type>transmission_interface/SimpleTransmission</type>
             <joint name="${robot_name}_joint2">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
             <actuator name="${robot_name}_motor_2">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
             </actuator>
         </transmission>
@@ -35,10 +35,10 @@
         <transmission name="${robot_name}_tran_3">
             <type>transmission_interface/SimpleTransmission</type>
             <joint name="${robot_name}_joint3">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
             <actuator name="${robot_name}_motor_3">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
             </actuator>
         </transmission>
@@ -46,10 +46,10 @@
         <transmission name="${robot_name}_tran_4">
             <type>transmission_interface/SimpleTransmission</type>
             <joint name="${robot_name}_joint4">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
             <actuator name="${robot_name}_motor_4">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
             </actuator>
         </transmission>
@@ -57,10 +57,10 @@
         <transmission name="${robot_name}_tran_5">
             <type>transmission_interface/SimpleTransmission</type>
             <joint name="${robot_name}_joint5">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
             <actuator name="${robot_name}_motor_5">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
             </actuator>
         </transmission>
@@ -68,10 +68,10 @@
         <transmission name="${robot_name}_tran_6">
             <type>transmission_interface/SimpleTransmission</type>
             <joint name="${robot_name}_joint6">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
             <actuator name="${robot_name}_motor_6">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
             </actuator>
         </transmission>
@@ -79,10 +79,10 @@
         <transmission name="${robot_name}_tran_7">
             <type>transmission_interface/SimpleTransmission</type>
             <joint name="${robot_name}_joint7">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
             <actuator name="${robot_name}_motor_7">
-                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
             </actuator>
         </transmission>
@@ -91,10 +91,10 @@
             <transmission name="${robot_name}_leftfinger">
                 <type>transmission_interface/SimpleTransmission</type>
                 <joint name="${robot_name}_finger_joint1">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 </joint>
                 <actuator name="${robot_name}_finger_joint1">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                     <mechanicalReduction>1</mechanicalReduction>
                 </actuator>
             </transmission>
@@ -102,10 +102,10 @@
             <transmission name="${robot_name}_rightfinger">
                 <type>transmission_interface/SimpleTransmission</type>
                 <joint name="${robot_name}_finger_joint2">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                 </joint>
                 <actuator name="${robot_name}_finger_joint2">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                     <mechanicalReduction>1</mechanicalReduction>
                 </actuator>
             </transmission>