diff --git a/franka_description/robots/panda_gazebo.xacro b/franka_description/robots/panda_gazebo.xacro
index 984597546..ecd34fa66 100644
--- a/franka_description/robots/panda_gazebo.xacro
+++ b/franka_description/robots/panda_gazebo.xacro
@@ -351,6 +351,7 @@
       <origin xyz="0 0 0.0584" rpy="0 0 0"/>
       <axis xyz="0 -1 0"/>
       <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+      <mimic joint="${ns}_finger_joint1" />
       <dynamics damping="0.3"/>
     </joint>
   </xacro:macro>