diff --git a/franka_control/config/panda_gazebo_control.yaml b/franka_control/config/panda_gazebo_control.yaml
new file mode 100644
index 000000000..2039c945c
--- /dev/null
+++ b/franka_control/config/panda_gazebo_control.yaml
@@ -0,0 +1,40 @@
+joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 50
+
+position_joint_trajectory_controller:
+ type: effort_controllers/JointTrajectoryController
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
+
+ gains:
+ panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
+ panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
+ panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
+ panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 }
+ panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 }
+ panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 }
+ panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 }
+
+ constraints:
+ goal_time: 2.0
+
+ state_publish_rate: 25
+
+franka_gripper:
+ type: effort_controllers/JointTrajectoryController
+ joints:
+ - panda_finger_joint1
+ - panda_finger_joint2
+
+ gains:
+ panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
+ panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }
+
+ state_publish_rate: 25
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
index 1cd3777e1..89f6ec5cb 100644
--- a/franka_description/robots/hand.xacro
+++ b/franka_description/robots/hand.xacro
@@ -1,6 +1,7 @@
-
+
+
@@ -19,6 +20,14 @@
+
+
+
+
+
+
+
+
@@ -26,11 +35,14 @@
-
-
-
-
-
+
+
+
+
+
+
+
+
@@ -39,13 +51,15 @@
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
@@ -62,4 +76,4 @@
-
+
\ No newline at end of file
diff --git a/franka_description/robots/panda.control.xacro b/franka_description/robots/panda.control.xacro
new file mode 100644
index 000000000..653cf831d
--- /dev/null
+++ b/franka_description/robots/panda.control.xacro
@@ -0,0 +1,31 @@
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ hardware_interface/PositionJointInterface
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/franka_description/robots/panda.gazebo.xacro b/franka_description/robots/panda.gazebo.xacro
new file mode 100644
index 000000000..bc7fc1806
--- /dev/null
+++ b/franka_description/robots/panda.gazebo.xacro
@@ -0,0 +1,31 @@
+
+
+
+
+
+ Gazebo/White
+ 0.2
+ 0.2
+
+
+
+
+ Gazebo/Grey
+ 0.2
+ 0.2
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index cfb3c2346..c5d85df00 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -1,5 +1,5 @@
-
-
+
+
\ No newline at end of file
diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro
index 672c881ca..f0a3db3d2 100644
--- a/franka_description/robots/panda_arm.xacro
+++ b/franka_description/robots/panda_arm.xacro
@@ -1,11 +1,17 @@
-
+
+
+
+
+
+
+
@@ -19,6 +25,14 @@
+
+
+
+
+
+
+
+
@@ -31,6 +45,14 @@
+
+
+
+
+
+
+
+
@@ -47,10 +69,31 @@
+
-
+
+
+
+
+
+
+
+
+
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+
+
+
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+
+
+
@@ -67,10 +110,31 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
-
+
+
+
+
+
+
+
+
+
@@ -87,10 +151,31 @@
+
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -107,10 +192,49 @@
+
-
+
+
+
+
+
+
+
+
+
+
+
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+
+
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+
@@ -127,10 +251,31 @@
+
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-
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+
+
@@ -147,10 +292,31 @@
+
-
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
@@ -160,12 +326,20 @@
-
+
+
+
+
+
+
+
+
+
+
-
-
+
\ No newline at end of file
diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro
index 4c0f2fcea..c7f59ea4a 100644
--- a/franka_description/robots/panda_arm_hand.urdf.xacro
+++ b/franka_description/robots/panda_arm_hand.urdf.xacro
@@ -2,6 +2,17 @@
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+