diff --git a/baxter_description/urdf/baxter.urdf.xacro b/baxter_description/urdf/baxter.urdf.xacro
index 0f065b5..76c59f0 100644
--- a/baxter_description/urdf/baxter.urdf.xacro
+++ b/baxter_description/urdf/baxter.urdf.xacro
@@ -1,6 +1,24 @@
 <?xml version="1.0" ?>
 <robot name="baxter" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- Arguments and Defaults-->
+  <xacro:arg name="gazebo" default="false"/>
+  <xacro:arg name="left_end_effector" default="true"/>
+  <xacro:arg name="right_end_effector" default="true"/>
+
+  <!-- Baxter Base URDF -->
   <xacro:include filename="$(find baxter_description)/urdf/baxter.urdf" />
-  <xacro:include filename="$(find baxter_description)/urdf/left_end_effector.urdf.xacro" />
-  <xacro:include filename="$(find baxter_description)/urdf/right_end_effector.urdf.xacro" />
+  <xacro:if value="$(arg gazebo)">
+      <xacro:include filename="$(find baxter_description)/urdf/gazebo/baxter.gazebo.xacro" />
+  </xacro:if>
+
+  <!-- Left End Effector -->
+  <xacro:if value="$(arg left_end_effector)">
+    <xacro:include filename="$(find baxter_description)/urdf/left_end_effector.urdf.xacro" />
+  </xacro:if>
+
+  <!-- Right End Effector -->
+  <xacro:if value="$(arg right_end_effector)">
+    <xacro:include filename="$(find baxter_description)/urdf/right_end_effector.urdf.xacro" />
+  </xacro:if>
+
 </robot>
diff --git a/baxter_description/urdf/gazebo/baxter.gazebo.urdf.xacro b/baxter_description/urdf/gazebo/baxter.gazebo.urdf.xacro
deleted file mode 100644
index 9243d8e..0000000
--- a/baxter_description/urdf/gazebo/baxter.gazebo.urdf.xacro
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="baxter" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="$(find baxter_description)/urdf/baxter.urdf.xacro" />
-  <xacro:include filename="$(find baxter_description)/urdf/gazebo/baxter.gazebo.xacro" />
-</robot>
diff --git a/baxter_description/urdf/left_end_effector.urdf.xacro b/baxter_description/urdf/left_end_effector.urdf.xacro
index bf7fd78..6b64d2e 100644
--- a/baxter_description/urdf/left_end_effector.urdf.xacro
+++ b/baxter_description/urdf/left_end_effector.urdf.xacro
@@ -2,12 +2,12 @@
 <robot name="left_end_effector" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:include filename="$(find baxter_description)/urdf/electric_gripper/rethink_electric_gripper.xacro" />
   <xacro:rethink_electric_gripper side="left"
-                                  l_finger="extended_narrow"
-                                  l_finger_slot="1"
+                                  l_finger="extended_wide"
+                                  l_finger_slot="3"
                                   l_finger_tip="paddle_tip"
                                   l_finger_grasp="inner"
-                                  r_finger="extended_narrow"
-                                  r_finger_slot="2"
+                                  r_finger="extended_wide"
+                                  r_finger_slot="3"
                                   r_finger_tip="paddle_tip"
-                                  r_finger_grasp="outer"/>
+                                  r_finger_grasp="inner"/>
 </robot>