diff --git a/franka_description/robots/panda_gazebo.xacro b/franka_description/robots/panda_gazebo.xacro
index c2b6baf1c..70841811a 100644
--- a/franka_description/robots/panda_gazebo.xacro
+++ b/franka_description/robots/panda_gazebo.xacro
@@ -149,7 +149,7 @@
         <mass value="3.587895"/>
         <inertia ixx="2.5853e-02" ixy="7.7960e-03" ixz="-1.3320e-03"
                                   iyy="1.9552e-02" iyz="8.6410e-03"
-                                                   izz="2.8323e-02" />
+                                  izz="2.8323e-02" />
       </inertial>
     </link>
 
@@ -213,7 +213,7 @@
         <mass value="1.666555"/>
         <inertia ixx="1.9640e-03" ixy="1.0900e-04" ixz="-1.1580e-03"
                                   iyy="4.3540e-03" iyz="3.4100e-04"
-                                                   izz="5.4330e-03" />
+                                  izz="5.4330e-03" />
       </inertial>
     </link>
 
@@ -288,9 +288,8 @@
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0.0 0 0.0375" rpy="0 ${pi/2} ${pi/2}"/>
         <geometry>
-          <box size="0.055 0.04 0.198"  />
+          <mesh filename="package://franka_description/meshes/collision/hand.stl" />
         </geometry>
       </collision>
       <inertial>
@@ -310,15 +309,8 @@
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0.015 0.03" rpy="0 0 0"/>
         <geometry>
-          <box size="0.03 0.005 0.047" />
-        </geometry>
-      </collision>
-      <collision>
-        <origin xyz="0 0.007 0.045" rpy="0 0 0"/>
-        <geometry>
-          <box size="0.03 0.015 0.017" />
+          <mesh filename="package://franka_description/meshes/collision/finger.stl" />
         </geometry>
       </collision>
     </link>
@@ -332,15 +324,9 @@
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 -0.015 0.03" rpy="0 0 0"/>
-        <geometry>
-          <box size="0.03 0.005 0.047" />
-        </geometry>
-      </collision>
-      <collision>
-        <origin xyz="0 -0.007 0.045" rpy="0 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
         <geometry>
-          <box size="0.03 0.015 0.017" />
+          <mesh filename="package://franka_description/meshes/collision/finger.stl" />
         </geometry>
       </collision>
     </link>