diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index 53ddcdf409507daee1aaa00ecc6d97c9b07fb61f..092b68fa0f694589a7f5b497f44061aaf10cb443 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -21,7 +21,7 @@
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0" />
+    <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent" />
     <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never" />
diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index 39de54fafd3e0c547622e11689335dfdaa1d911c..39f7db974e1eedee63045a53395d55bd41fb5f70 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -28,7 +28,7 @@
     <joint name="panda_joint7" value="0.785" />
   </group_state>
   <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-  <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm_hand" />
+  <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
   <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
   <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
   <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />