diff --git a/franka_gazebo/src/joint.cpp b/franka_gazebo/src/joint.cpp
index d733539db..60b36e9af 100644
--- a/franka_gazebo/src/joint.cpp
+++ b/franka_gazebo/src/joint.cpp
@@ -64,10 +64,10 @@ double Joint::getLinkMass() const {
 }
 
 bool Joint::isInCollision() const {
-  return std::abs(this->effort - this->command) > this->collision_threshold;
+  return std::abs(this->effort - this->command + this->gravity) > this->collision_threshold;
 }
 
 bool Joint::isInContact() const {
-  return std::abs(this->effort - this->command) > this->contact_threshold;
+  return std::abs(this->effort - this->command + this->gravity) > this->contact_threshold;
 }
 }  // namespace franka_gazebo