diff --git a/talos_description/robots/talos_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
index 633285900d459c0f5998a59c425a3015348272c7..4890058ba770be8b8b55af917dab1e760a09d2a3 100644
--- a/talos_description/robots/talos_full.urdf.xacro
+++ b/talos_description/robots/talos_full.urdf.xacro
@@ -17,7 +17,7 @@
   <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
   <xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
   <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
   <xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index c315336ef2553307a8393655463c4718b85a689d..e5ade257ffe88f5fa7a06eb227050bba455f6830 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -144,7 +144,7 @@
             </link>
 
 
-            <joint name="fingertip_1_joint" type="revolute">
+            <joint name="${name}_fingertip_1_joint" type="revolute">
               <parent link="${name}_inner_double_link"/>
               <child link="${name}_fingertip_1_link"/>
               <origin xyz="0.03200 0.04589 -0.06553"