diff --git a/franka_moveit_config/launch/moveit_without_hand.launch.py b/franka_moveit_config/launch/moveit_without_hand.launch.py
index 8464b6e..1ae1f65 100644
--- a/franka_moveit_config/launch/moveit_without_hand.launch.py
+++ b/franka_moveit_config/launch/moveit_without_hand.launch.py
@@ -169,6 +169,7 @@ def generate_launch_description():
         'config',
         'panda_ros_controllers.yaml',
     )
+
     ros2_control_node = Node(
         package='controller_manager',
         executable='ros2_control_node',
diff --git a/franka_moveit_config/srdf/hand.xacro b/franka_moveit_config/srdf/hand.xacro
deleted file mode 100644
index 5647a95..0000000
--- a/franka_moveit_config/srdf/hand.xacro
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
-  <xacro:macro name="hand" params="arm_id:='panda' ">
-
-    <group name="hand">
-      <link name="${arm_id}_hand"/>
-      <link name="${arm_id}_leftfinger"/>
-      <link name="${arm_id}_rightfinger"/>
-      <joint name="${arm_id}_finger_joint1"/>
-      <passive_joint name="${arm_id}_finger_joint2"/>
-    </group>
-    <disable_collisions link1="${arm_id}_hand" link2="${arm_id}_leftfinger" reason="Adjacent"/>
-    <disable_collisions link1="${arm_id}_hand" link2="${arm_id}_rightfinger" reason="Adjacent"/>
-    <disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_rightfinger" reason="Default"/>
-  </xacro:macro>
-</robot>
diff --git a/franka_moveit_config/srdf/panda_arm.srdf.xacro b/franka_moveit_config/srdf/panda_arm.srdf.xacro
index 1ddc51a..8670e4b 100644
--- a/franka_moveit_config/srdf/panda_arm.srdf.xacro
+++ b/franka_moveit_config/srdf/panda_arm.srdf.xacro
@@ -2,18 +2,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 
   <xacro:arg name="arm_id" default="panda"/> <!-- Name of this panda -->
-  <xacro:arg name="hand" default="true"/> <!-- Should a franka_gripper be mounted at the flange? (Currently does not work without it) -->
 
   <xacro:property name="arm_id" value="$(arg arm_id)"/>
 
   <xacro:include filename="$(find franka_moveit_config)/srdf/panda_arm.xacro"/>
   <xacro:panda_arm arm_id="${arm_id}"/>
 
-  <xacro:if value="$(arg hand)">
-    <xacro:include filename="$(find franka_moveit_config)/srdf/hand.xacro"/>
-    <xacro:hand arm_id="${arm_id}"/>
-
-    <xacro:include filename="$(find franka_moveit_config)/srdf/panda_arm_hand.xacro"/>
-    <xacro:panda_arm_hand arm_id="${arm_id}"/>
-  </xacro:if>
 </robot>
\ No newline at end of file
diff --git a/franka_moveit_config/srdf/panda_arm_hand.xacro b/franka_moveit_config/srdf/panda_arm_hand.xacro
deleted file mode 100644
index 875b593..0000000
--- a/franka_moveit_config/srdf/panda_arm_hand.xacro
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
-  <xacro:macro name="panda_arm_hand" params="arm_id:='panda' ">
-
-    <group_state name="open" group="hand">
-      <joint name="${arm_id}_finger_joint1" value="0.035"/>
-      <joint name="${arm_id}_finger_joint2" value="0.035"/>
-    </group_state>
-    <group_state name="close" group="hand">
-      <joint name="${arm_id}_finger_joint1" value="0"/>
-      <joint name="${arm_id}_finger_joint2" value="0"/>
-    </group_state>
-    <end_effector name="hand_tcp" parent_link="${arm_id}_hand_tcp" group="hand" parent_group="${arm_id}_manipulator"/>
-    <end_effector name="hand" parent_link="${arm_id}_link8" group="hand" parent_group="${arm_id}_arm"/>
-    <disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link3" reason="Never"/>
-    <disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link4" reason="Never"/>
-    <disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link6" reason="Never"/>
-    <disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link7" reason="Adjacent"/>
-    <disable_collisions link1="${arm_id}_hand" link2="${arm_id}_link8" reason="Adjacent"/>
-    <disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link3" reason="Never"/>
-    <disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link4" reason="Never"/>
-    <disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link6" reason="Never"/>
-    <disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link7" reason="Never"/>
-    <disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_link8" reason="Never"/>
-    <disable_collisions link1="${arm_id}_link3" link2="${arm_id}_rightfinger" reason="Never"/>
-    <disable_collisions link1="${arm_id}_link4" link2="${arm_id}_rightfinger" reason="Never"/>
-    <disable_collisions link1="${arm_id}_link6" link2="${arm_id}_rightfinger" reason="Never"/>
-    <disable_collisions link1="${arm_id}_link7" link2="${arm_id}_rightfinger" reason="Never"/>
-    <disable_collisions link1="${arm_id}_link8" link2="${arm_id}_rightfinger" reason="Never"/>
-  </xacro:macro>
-</robot>