diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index d0e38fea4e1d9dfedf82ad8ec6069f83e7207f15..707263cadd8d01beb0586347023bf5289b79a1b0 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -644,4 +644,15 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
     <disable_collisions link1="torso_1_link" link2="torso_2_link" reason="Adjacent" />
     <disable_collisions link1="wrist_left_ft_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
     <disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
+
+
+    <gripper name="left_gripper" clearance="0.03">
+      <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
+      <link name="gripper_left_base_link" />
+    </gripper>
+
+    <gripper name="right_gripper" clearance="0.03">
+      <position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
+      <link name="gripper_right_base_link" />
+    </gripper> 
 </robot>