diff --git a/README.md b/README.md
index d417f3b68..fe9e3926b 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,19 @@
 
 See the [Franka Control Interface (FCI) documentation][fci-docs] for more information.
 
+## My Changes
+
+In order to integrate the panda robot into gazebo I made changes to the following files:
+
+- franka_description/robots/hand.xacro
+- franka_description/robots/panda_arm.xacro
+- franka_description/robots/panda_arm_hand.urdf.xacro
+
+I added the following files to the repository:
+
+- franka_description/robots/panda.gazebo.xacro
+- franka_description/robots/panda.transmission.xacro
+
 ## License
 
 All packages of `franka_ros` are licensed under the [Apache 2.0 license][apache-2.0].
diff --git a/franka_description/robots/panda.gazebo.xacro b/franka_description/robots/panda.gazebo.xacro
new file mode 100644
index 000000000..02822caa5
--- /dev/null
+++ b/franka_description/robots/panda.gazebo.xacro
@@ -0,0 +1,94 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="panda_gazebo" params="robot_name">
+
+        <!-- Link0 -->
+        <gazebo reference="${robot_name}_link0">
+            <material>Gazebo/Grey</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link1 -->
+        <gazebo reference="${robot_name}_link1">
+            <material>Gazebo/White</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link2 -->
+        <gazebo reference="${robot_name}_link2">
+            <material>Gazebo/White</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link3 -->
+        <gazebo reference="${robot_name}_link3">
+            <material>Gazebo/White</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link4 -->
+        <gazebo reference="${robot_name}_link4">
+            <material>Gazebo/White</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link5 -->
+        <gazebo reference="${robot_name}_link5">
+            <material>Gazebo/White</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link6 -->
+        <gazebo reference="${robot_name}_link6">
+            <material>Gazebo/White</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link7 -->
+        <gazebo reference="${robot_name}_link7">
+            <material>Gazebo/Grey</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- Link8 -->
+        <gazebo reference="${robot_name}_link8">
+            <material>Gazebo/Grey</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- LinkHand -->
+        <gazebo reference="${robot_name}_hand">
+            <material>Gazebo/Grey</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- LinkRightFinger -->
+        <gazebo reference="${robot_name}_rightfinger">
+            <material>Gazebo/Grey</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+        <!-- LinkLeftFinger -->
+        <gazebo reference="${robot_name}_leftfinger">
+            <material>Gazebo/Grey</material>
+            <mu1>0.2</mu1>
+            <mu2>0.2</mu2>
+        </gazebo>
+
+    </xacro:macro>
+
+</robot>
+
diff --git a/franka_description/robots/panda.transmission.xacro b/franka_description/robots/panda.transmission.xacro
new file mode 100644
index 000000000..343bd7ad7
--- /dev/null
+++ b/franka_description/robots/panda.transmission.xacro
@@ -0,0 +1,112 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="panda_transmission" params="robot_name">
+
+
+        <!-- Load Gazebo lib and set the robot namespace -->
+        <gazebo>
+            <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+                <!-- <robotNamespace>/${robot_name}</robotNamespace> -->
+            </plugin>
+        </gazebo>
+
+        <transmission name="${robot_name}_tran_1">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_joint1">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_motor_1">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_tran_2">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_joint2">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_motor_2">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_tran_3">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_joint3">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_motor_3">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_tran_4">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_joint4">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_motor_4">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_tran_5">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_joint5">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_motor_5">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_tran_6">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_joint6">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_motor_6">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_tran_7">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_joint7">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_motor_7">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_leftfinger">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_finger_joint1">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_finger_joint1">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+
+        <transmission name="${robot_name}_rightfinger">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${robot_name}_finger_joint2">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${robot_name}_finger_joint2">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+        </transmission>
+    </xacro:macro>
+</robot>
diff --git a/franka_example_controllers/launch/hiro_cartesian_impedance_example_controller.launch b/franka_example_controllers/launch/hiro_cartesian_impedance_example_controller.launch
index d3eb89a7b..4b1d9b54a 100644
--- a/franka_example_controllers/launch/hiro_cartesian_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/hiro_cartesian_impedance_example_controller.launch
@@ -2,6 +2,7 @@
 <launch>
   <arg name="robot" default="fr3" doc="choose your robot. Possible values: [panda, fr3]"/>
   <arg name="arm_id" default="$(arg robot)" />
+  <arg name="robot_ip" default="192.168.0.198"/>
   <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true"/>
   <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" subst_value="true" />
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="hiro_cartesian_impedance_example_controller"/>
diff --git a/franka_example_controllers/launch/hiro_joint_impedance_example_controller.launch b/franka_example_controllers/launch/hiro_joint_impedance_example_controller.launch
index d00680246..105e3316d 100644
--- a/franka_example_controllers/launch/hiro_joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/hiro_joint_impedance_example_controller.launch
@@ -2,6 +2,7 @@
 <launch>
   <arg name="robot" default="fr3" doc="choose your robot. Possible values: [panda, fr3]"/>
   <arg name="arm_id" default="$(arg robot)" />
+  <arg name="robot_ip" default="192.168.0.198"/>
   <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true"/>
   <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" subst_value="true" />
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="hiro_joint_impedance_example_controller"/>