diff --git a/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py
index fc627378..4787f7cc 100644
--- a/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py
+++ b/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py
@@ -30,7 +30,10 @@
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
 from clearpath_config.manipulators.types.arms import Franka
-from clearpath_config.manipulators.types.grippers import FrankaGripper
+from clearpath_config.manipulators.types.grippers import (
+    FrankaGripper,
+    Robotiq2F140
+)
 from clearpath_config.manipulators.types.manipulator import (
     BaseManipulator,
     ManipulatorPose
@@ -88,9 +91,18 @@ def __init__(self, manipulator):
             super().__init__(manipulator)
             self.parameters[self.NAME] = f'{manipulator.name}_{manipulator.arm_id}'
 
+    class Robotiq2F140SemanticDescription(BaseSemanticDescription):
+
+        def __init__(self, manipulator):
+            super().__init__(manipulator)
+            urdf_parameters = dict(manipulator.get_urdf_parameters())
+            self.parameters[Robotiq2F140.PADDING] = f"{
+                urdf_parameters.get(Robotiq2F140.PADDING, 'true')}"
+
     MODEL = {
         Franka.MANIPULATOR_MODEL: FrankaSemanticDescription,
-        FrankaGripper.MANIPULATOR_MODEL: FrankaSemanticDescription
+        FrankaGripper.MANIPULATOR_MODEL: FrankaSemanticDescription,
+        Robotiq2F140.MANIPULATOR_MODEL: Robotiq2F140SemanticDescription
     }
 
     def __new__(cls, manipulator: BaseManipulator) -> BaseManipulator:
diff --git a/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro b/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro
index 167d747b..077b7c0c 100644
--- a/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro
+++ b/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro
@@ -7,7 +7,15 @@
     </group_state>
   </xacro:macro>
 
-  <xacro:macro name="robotiq_2f_140" params="name">
+  <xacro:macro name="robotiq_2f_140" params="name padding:=true">
+
+    <xacro:if value="${padding}">
+      <xacro:property name="upper_finger_joint_limit" value="0.7"/>
+    </xacro:if>
+    <xacro:unless value="${padding}">
+      <xacro:property name="upper_finger_joint_limit" value="0.767"/>
+    </xacro:unless>
+
     <group name="${name}">
         <joint name="${name}_finger_joint"/>
         <joint name="${name}_left_inner_knuckle_joint"/>
@@ -26,12 +34,15 @@
     <xacro:robotiq_2f_140_group_state
       name="${name}"
       group_state="close"
-      joint_positions="${[0.7]}"
+      joint_positions="${[upper_finger_joint_limit]}"
     />
 
     <disable_collisions link1="${name}_left_inner_knuckle" link2="${name}_left_inner_finger" reason="User"/>
     <disable_collisions link1="${name}_right_inner_knuckle" link2="${name}_right_inner_finger" reason="User"/>
     <disable_collisions link1="${name}_left_outer_knuckle" link2="${name}_left_inner_knuckle" reason="User"/>
     <disable_collisions link1="${name}_right_outer_knuckle" link2="${name}_right_inner_knuckle" reason="User"/>
+    <xacro:if value="${padding}">
+      <disable_collisions link1="${name}_right_inner_finger_pad" link2="${name}_left_inner_finger_pad" reason="User"/>
+    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro b/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
index f8e8a5b7..155e99f6 100644
--- a/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
+++ b/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
@@ -16,11 +16,18 @@
     sim_isaac:=false
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
-    com_port:=/dev/ttyUSB0">
+    com_port:=/dev/ttyUSB0
+    padding:=true">
 
     <!-- Variables Mappings -->
     <xacro:property name="prefix" value="${name}_"/>
     <xacro:property name="stroke" value="140"/>
+    <xacro:if value="${padding}">
+      <xacro:property name="upper_finger_joint_limit" value="0.7"/>
+    </xacro:if>
+    <xacro:unless value="${padding}">
+      <xacro:property name="upper_finger_joint_limit" value="0.767"/>
+    </xacro:unless>
 
     <!-- this is a temporary link to rotate the 2f-140 gripper to match the 2f-85 -->
     <link name="${prefix}robotiq_base_link"/>
@@ -213,7 +220,7 @@
         <parent link="${prefix}robotiq_140_base_link" />
         <child link="${prefix}left_outer_knuckle" />
         <axis xyz="-1 0 0" />
-        <limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
+        <limit lower="0" upper="${upper_finger_joint_limit}" velocity="2.0" effort="1000" />
       </joint>
       <xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
     </xacro:macro>
@@ -224,7 +231,7 @@
         <parent link="${prefix}robotiq_140_base_link" />
         <child link="${prefix}right_outer_knuckle" />
         <axis xyz="1 0 0" />
-        <limit lower="-0.725" upper="0.725" velocity="2.0" effort="1000" />
+        <limit lower="-0.775" upper="0.775" velocity="2.0" effort="1000" />
         <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
       </joint>
       <xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
@@ -274,14 +281,18 @@
       <xacro:outer_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
       <xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}" reflect="${reflect}"/>
       <xacro:inner_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
-      <xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+      <xacro:if value="${padding}">
+        <xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+      </xacro:if>
     </xacro:macro>
 
     <xacro:macro name="finger_links" params="prefix fingerprefix stroke">
       <xacro:outer_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
       <xacro:outer_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
       <xacro:inner_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
-      <xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+      <xacro:if value="${padding}">
+        <xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+      </xacro:if>
       <xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
     </xacro:macro>