diff --git a/srdf/talos_wpg.srdf b/srdf/talos_wpg.srdf
index 6dbcc11e9e26e84c72bf8a295d20e2c6c0cc17a5..9f1d6a84c10e835481fb7dbe51a04824bb7efc39 100644
--- a/srdf/talos_wpg.srdf
+++ b/srdf/talos_wpg.srdf
@@ -144,6 +144,8 @@
         <joint name="arm_right_5_joint" value="0" />
         <joint name="arm_right_6_joint" value="0" />
         <joint name="arm_right_7_joint" value="0.1" />
+        <joint name="gripper_left_joint" value="0" />
+        <joint name="gripper_right_joint" value="0" />	
         <joint name="head_1_joint" value="0" />
         <joint name="head_2_joint" value="0" />
         <joint name="leg_left_1_joint" value="0.0" />