diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index a579ef35d7acc01b80cde056f3550d35c1df3735..86186d287e68d7bcf28972ee3a67aaac34b14a55 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -682,14 +682,14 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
     <disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
 
 
-    <gripper name="left_gripper" clearance="0.03">
+    <gripper name="left_gripper" clearance="0.07">
       <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
       <link name="gripper_left_base_link" />
       <joint name="gripper_left_joint" />
       <torque_constant value="48e-3" unit="N.m/A"/>
     </gripper>
 
-    <gripper name="right_gripper" clearance="0.03">
+    <gripper name="right_gripper" clearance="0.07">
       <position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
       <link name="gripper_right_base_link" />
       <joint name="gripper_right_joint" />