diff --git a/assets/end_effector/parallel_link/config/inertials.yaml b/assets/end_effector/parallel_link/config/inertials.yaml
index c2dd0cb..52a8502 100644
--- a/assets/end_effector/parallel_link/config/inertials.yaml
+++ b/assets/end_effector/parallel_link/config/inertials.yaml
@@ -12,6 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+hand:
+  origin:
+    x: 0.000001
+    y: 0.0
+    z: -0.000549
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.127
+  inertia:
+    xx: 1.65558e-04
+    yy: 1.74660e-05
+    zz: 1.73524e-04
+    xy: 0.0
+    xz: 0.0
+    yz: 0.0
+
 left_finger:
   origin:
     x: 0.0064528
diff --git a/assets/end_effector/parallel_link/config/kinematics.yaml b/assets/end_effector/parallel_link/config/kinematics.yaml
index 39a6009..d1a7741 100644
--- a/assets/end_effector/parallel_link/config/kinematics.yaml
+++ b/assets/end_effector/parallel_link/config/kinematics.yaml
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-finger_joint:
+hand:
   kinematic:
     x: 0.0
     y: 0.0
@@ -20,3 +20,12 @@ finger_joint:
     roll: 0
     pitch: 0
     yaw: 0
+
+finger_joint:
+  kinematic:
+    x: 0.0
+    y: -0.005
+    z: 0.1025
+    roll: 0
+    pitch: 0
+    yaw: 0
diff --git a/assets/end_effector/parallel_link/config/kinematics_link.yaml b/assets/end_effector/parallel_link/config/kinematics_link.yaml
index ca2f6ed..36470a3 100644
--- a/assets/end_effector/parallel_link/config/kinematics_link.yaml
+++ b/assets/end_effector/parallel_link/config/kinematics_link.yaml
@@ -12,11 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+hand:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: -0.661001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
 left_finger:
   kinematic:
     x: 0.0
     y: -0.05
-    z: -0.673001
+    z: -0.661001
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
@@ -25,7 +34,7 @@ right_finger:
   kinematic:
     x: 0.0
     y: 0.05
-    z: -0.673001
+    z: -0.661001
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
index 0d8e7c3..5e4763c 100644
--- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
+++ b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
@@ -14,7 +14,12 @@ limitations under the License.
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="parallel_gripper">
 
-  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
+  <!--
+    tcp_xyz: offset from hand link to hand_tcp along +Z of hand (metres).
+    Default 0 0 0.0835 is the calibrated fingertip-centre offset for the
+    parallel-link gripper — measured from the hand frame origin.
+  -->
+  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.0835' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
 
     <xacro:property name="ee_prefix" default=""/>
 
@@ -22,11 +27,33 @@ limitations under the License.
       <xacro:property name="ee_prefix" value="openarm_${arm_prefix}" />
     </xacro:unless>
 
+    <link name="${ee_prefix}hand">
+      <visual name="${ee_prefix}hand_visual">
+        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="hand" />
+        <geometry>
+          <mesh filename="package://${description_pkg}/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision name="${ee_prefix}hand_collision">
+        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="hand" />
+        <geometry>
+          <mesh filename="package://${description_pkg}/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+      <xacro:ee-inertials name="hand"/>
+    </link>
+
+    <joint name="${ee_prefix}hand_joint" type="fixed">
+      <xacro:openarm-ee-kinematics config="${ee_kinematics}" name="hand" />
+      <parent link="${connected_to}" />
+      <child link="${ee_prefix}hand" />
+    </joint>
+
     <link name="${ee_prefix}hand_tcp" />
 
     <joint name="${ee_prefix}hand_tcp_joint" type="fixed">
       <origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
-      <parent link="${connected_to}" /> <child link="${ee_prefix}hand_tcp" />
+      <parent link="${ee_prefix}hand" /> <child link="${ee_prefix}hand_tcp" />
     </joint>
 
     <link name="${ee_prefix}left_finger">