diff --git a/test/test_arm.py b/test/test_arm.py
index 1f8d80e..314f153 100644
--- a/test/test_arm.py
+++ b/test/test_arm.py
@@ -52,4 +52,5 @@ def test_custom_gripper():
       sensors=[
           robotiq_gripper_sensor.RobotiqGripperSensor(gripper, 'robotique')
       ])
-  arm.build_robot(parameters.RobotParams(gripper=gripper_params))
+  arm.build_robot(parameters.RobotParams(gripper=gripper_params,
+                                         has_hand=False))
diff --git a/test/test_hardware.py b/test/test_hardware.py
index 7193322..3c1b328 100644
--- a/test/test_hardware.py
+++ b/test/test_hardware.py
@@ -3,7 +3,11 @@
 import numpy as np
 import pytest
 from dm_control import mjcf
-from dm_robotics.moma.sensors import joint_observations, wrench_observations
+from dm_robotics.moma.effectors import default_gripper_effector
+from dm_robotics.moma.models.end_effectors.robot_hands import robotiq_2f85
+from dm_robotics.moma.sensors import (joint_observations,
+                                      robotiq_gripper_sensor,
+                                      wrench_observations)
 
 from dm_robotics.panda import arm, hardware, parameters
 
@@ -63,3 +67,17 @@ def test_wrench_sensor(mock_hardware):
       wrench_observations.Observations.FORCE)](physics)
   sensor.observables[sensor.get_obs_key(
       wrench_observations.Observations.TORQUE)](physics)
+
+
+def test_custom_gripper():
+  with patch('panda_py.Panda') as mock_panda:
+    gripper = robotiq_2f85.Robotiq2F85()
+    gripper_params = parameters.GripperParams(
+        model=gripper,
+        effector=default_gripper_effector.DefaultGripperEffector(
+            gripper, 'robotique'),
+        sensors=[
+            robotiq_gripper_sensor.RobotiqGripperSensor(gripper, 'robotique')
+        ])
+    hardware.build_robot(
+        parameters.RobotParams(gripper=gripper_params, has_hand=False))