diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro
index 03942ed007..0e1002ac0e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro
@@ -29,7 +29,7 @@
         </collision>
     </link>
     <joint name="l_gripper_finger_tip_joint" type="fixed">
-        <origin rpy="0 0 0" xyz="0 0 0" />
+        <origin rpy="0 0 0" xyz="0 -0.001 -0.013" />
         <parent link="l_gripper_finger_link" />
         <child link="l_gripper_finger_tip" />
         <axis xyz="0 0 1" />
@@ -64,7 +64,7 @@
         </collision>
     </link>
     <joint name="r_gripper_finger_tip_joint" type="fixed">
-        <origin rpy="3.141592 0 0" xyz="0 0 0" />
+        <origin rpy="3.141592 0 0" xyz="0 0.001 0.013" />
         <parent link="r_gripper_finger_link" />
         <child link="r_gripper_finger_tip" />
         <axis xyz="0 0 1" />