diff --git a/franka_description/robots/panda_gazebo.xacro b/franka_description/robots/panda_gazebo.xacro
index 31b81bb6f..b526d6fa4 100644
--- a/franka_description/robots/panda_gazebo.xacro
+++ b/franka_description/robots/panda_gazebo.xacro
@@ -332,6 +332,14 @@
       </collision>
     </xacro:macro>
 
+    <!-- Define the hand_tcp frame -->
+    <link name="${ns}_hand_tcp" />
+    <joint name="${ns}_hand_tcp_joint" type="fixed">
+      <origin xyz="0 0 0.1034" rpy="0 0 0" />
+      <parent link="${ns}_hand" />
+      <child link="${ns}_hand_tcp" />
+    </joint>
+
     <link name="${ns}_leftfinger">
       <xacro:inertia-cylinder mass="15e-3" radius="0.01" h="0.04"/>
       <visual>