diff --git a/.setup_assistant b/.setup_assistant
index 02532ad2fce9e823c20d43494b7c90d3abbcfa66..76ca6b12d28c4ba41376e6f62238278a3cf0231f 100644
--- a/.setup_assistant
+++ b/.setup_assistant
@@ -1,7 +1,7 @@
 moveit_setup_assistant_config:
   URDF:
     package: franka_description
-    relative_path: robots/panda_arm_hand.urdf.xacro
+    relative_path: robots/panda_arm.urdf.xacro
   SRDF:
     relative_path: config/panda_arm.srdf.xacro
   CONFIG:
diff --git a/launch/planning_context.launch b/launch/planning_context.launch
index f0ec470e19a41ec4899068296a6bb8faa6a2ad06..3485d6752322590a56b788a1e3c2431b54fae837 100644
--- a/launch/planning_context.launch
+++ b/launch/planning_context.launch
@@ -8,8 +8,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
-  <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+  <param name="$(arg robot_description)" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />