diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4a075741f..bc5c0216e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ Requires `libfranka` >= 0.8.0
   * `franka_description`: `<xacro:franka_robot/>` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset
   * `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326))
   * `franka_gazebo`: Add `set_franka_model_configuration` service.
+  * `franka_gazebo`: Fix joint collision checking by adding the gravity component to the total torque calculation.
 
 ## 0.10.1 - 2022-09-15
 
diff --git a/franka_gazebo/src/joint.cpp b/franka_gazebo/src/joint.cpp
index 919dc3292..9c8df4d33 100644
--- a/franka_gazebo/src/joint.cpp
+++ b/franka_gazebo/src/joint.cpp
@@ -114,11 +114,11 @@ 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;
 }
 
 void Joint::setJointPosition(const double joint_position) {