diff --git a/config/panda.srdf.xacro b/config/panda.srdf.xacro
index d379ec94bf3e69cad7eee671c70b58ea4f78ca5c..8ead0d9f4b040e88e523dbafbef55fd136a7fa20 100644
--- a/config/panda.srdf.xacro
+++ b/config/panda.srdf.xacro
@@ -15,7 +15,7 @@
         <xacro:hand />
 
         <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-        <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
+        <end_effector name="hand" parent_link="panda_tool" group="hand" parent_group="panda_arm" />
     </xacro:if>
 
 </robot>
diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index e4520130c0544a20fb270a5f6e3be9ba597f061d..23cb073df8cb8576d1021014dae5820d3f9a3f73 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -7,7 +7,7 @@
         <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
         <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
         <group name="panda_arm">
-            <chain base_link="panda_link0" tip_link="panda_link8"/>
+            <chain base_link="panda_link0" tip_link="panda_tool" />
         </group>
         <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
         <group_state name="ready" group="panda_arm">