diff --git a/urdf/talos_full.urdf b/urdf/talos_full.urdf
index 3eaa8bc8f7cb52ace03f6fc5428d41e9f0bde7e7..5506decb2079576da51e04dd18533596aefcb7d1 100644
--- a/urdf/talos_full.urdf
+++ b/urdf/talos_full.urdf
@@ -1385,7 +1385,8 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <!--<mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>-->
       </geometry>
     </collision>
   </link>
@@ -1497,7 +1498,8 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <!--<mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>-->
       </geometry>
     </collision>
   </link>
@@ -1740,7 +1742,8 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos-data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <!--<mesh filename="package://talos-data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>-->
       </geometry>
     </collision>
   </link>
@@ -1852,7 +1855,8 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://talos-data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <!--<mesh filename="package://talos-data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>-->
       </geometry>
     </collision>
   </link>