diff --git a/src/astra_arm_moveit_config/.setup_assistant b/src/astra_arm_moveit_config/.setup_assistant
index 76901f9..ce5bdda 100644
--- a/src/astra_arm_moveit_config/.setup_assistant
+++ b/src/astra_arm_moveit_config/.setup_assistant
@@ -7,7 +7,7 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: David Sharpe
     author_email: ds0196@uah.edu
-    generated_timestamp: 1755622867
+    generated_timestamp: 1755625929
   control_xacro:
     command:
       - position
diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf b/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
index 3e93041..b83f722 100644
--- a/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
+++ b/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
@@ -16,9 +16,9 @@
         <joint name="Axis_2_Joint"/>
         <joint name="Axis_3_Joint"/>
         <joint name="Wrist_Differential_Joint"/>
+        <joint name="Wrist-EF_Roll_Joint"/>
     </group>
     <group name="Hand">
-        <link name="End Effector"/>
         <link name="EF Gripper Left"/>
         <link name="EF Gripper Right"/>
     </group>
@@ -28,6 +28,7 @@
         <joint name="Axis_1_Joint" value="0"/>
         <joint name="Axis_2_Joint" value="0"/>
         <joint name="Axis_3_Joint" value="0"/>
+        <joint name="Wrist-EF_Roll_Joint" value="0"/>
         <joint name="Wrist_Differential_Joint" value="0"/>
     </group_state>
     <group_state name="Stow" group="astra_arm">
@@ -35,6 +36,7 @@
         <joint name="Axis_1_Joint" value="-1.05"/>
         <joint name="Axis_2_Joint" value="-2"/>
         <joint name="Axis_3_Joint" value="-1.6"/>
+        <joint name="Wrist-EF_Roll_Joint" value="0"/>
         <joint name="Wrist_Differential_Joint" value="0"/>
     </group_state>
     <group_state name="Ready" group="astra_arm">
@@ -42,20 +44,19 @@
         <joint name="Axis_1_Joint" value="0"/>
         <joint name="Axis_2_Joint" value="-1.6"/>
         <joint name="Axis_3_Joint" value="-1.6"/>
+        <joint name="Wrist-EF_Roll_Joint" value="0"/>
         <joint name="Wrist_Differential_Joint" value="0"/>
     </group_state>
     <group_state name="Open" group="Hand">
-        <joint name="Gripper_Slider_Right" value="0.04"/>
         <joint name="Gripper_Slider_Left" value="-0.04"/>
-        <joint name="Wrist-EF_Roll_Joint" value="0"/>
+        <joint name="Gripper_Slider_Right" value="0.04"/>
     </group_state>
     <group_state name="Close" group="Hand">
-        <joint name="Gripper_Slider_Right" value="-0.0215"/>
         <joint name="Gripper_Slider_Left" value="0.0215"/>
-        <joint name="Wrist-EF_Roll_Joint" value="0"/>
+        <joint name="Gripper_Slider_Right" value="-0.0215"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="Hand" parent_link="Diff Carrier" group="Hand"/>
+    <end_effector name="Hand" parent_link="End Effector" group="Hand"/>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
diff --git a/src/astra_arm_moveit_config/config/joint_limits.yaml b/src/astra_arm_moveit_config/config/joint_limits.yaml
index f2d4ed8..fbb729b 100644
--- a/src/astra_arm_moveit_config/config/joint_limits.yaml
+++ b/src/astra_arm_moveit_config/config/joint_limits.yaml
@@ -30,12 +30,12 @@ joint_limits:
     max_acceleration: 0.5
   Gripper_Slider_Left:
     has_velocity_limits: true
-    max_velocity: 3.141593
+    max_velocity: 0.015
     has_acceleration_limits: true
     max_acceleration: 0.5
   Gripper_Slider_Right:
     has_velocity_limits: true
-    max_velocity: 3.141593
+    max_velocity: 0.015
     has_acceleration_limits: true
     max_acceleration: 0.5
   Wrist_Differential_Joint:
diff --git a/src/astra_arm_moveit_config/config/kinematics.yaml b/src/astra_arm_moveit_config/config/kinematics.yaml
index 92ecc46..51bc5c0 100644
--- a/src/astra_arm_moveit_config/config/kinematics.yaml
+++ b/src/astra_arm_moveit_config/config/kinematics.yaml
@@ -1,4 +1,4 @@
 astra_arm:
   kinematics_solver: pick_ik/PickIkPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
-  kinematics_solver_timeout: 0.010000000000000001
\ No newline at end of file
+  kinematics_solver_timeout: 0.01
\ No newline at end of file
diff --git a/src/astra_arm_moveit_config/config/moveit_controllers.yaml b/src/astra_arm_moveit_config/config/moveit_controllers.yaml
index 21b0152..672c3a2 100644
--- a/src/astra_arm_moveit_config/config/moveit_controllers.yaml
+++ b/src/astra_arm_moveit_config/config/moveit_controllers.yaml
@@ -15,12 +15,12 @@ moveit_simple_controller_manager:
       - Axis_2_Joint
       - Axis_3_Joint
       - Wrist_Differential_Joint
+      - Wrist-EF_Roll_Joint
     action_ns: follow_joint_trajectory
     default: true
   hand_controller:
     type: GripperCommand
     joints:
-      - Wrist-EF_Roll_Joint
       - Gripper_Slider_Left
       - Gripper_Slider_Right
     action_ns: gripper_cmd
diff --git a/src/astra_arm_moveit_config/config/ros2_controllers.yaml b/src/astra_arm_moveit_config/config/ros2_controllers.yaml
index bafb640..3cb364a 100644
--- a/src/astra_arm_moveit_config/config/ros2_controllers.yaml
+++ b/src/astra_arm_moveit_config/config/ros2_controllers.yaml
@@ -22,6 +22,7 @@ astra_arm_controller:
     - Axis_2_Joint
     - Axis_3_Joint
     - Wrist_Differential_Joint
+    - Wrist-EF_Roll_Joint
     command_interfaces:
     - position
     - velocity
@@ -32,4 +33,4 @@ astra_arm_controller:
 
 hand_controller:
   ros__parameters:
-    joint: Wrist-EF_Roll_Joint
+    joint: Gripper_Slider_Left
diff --git a/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf b/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
index 94c79f7..ec3fbf8 100755
--- a/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
+++ b/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
@@ -458,7 +458,10 @@
       lower="-0.025"
       upper="0.04"
       effort="0"
-      velocity="3.1415963" />
+      velocity="0.015" />
+    <mimic
+      joint="Gripper_Slider_Left"
+      multiplier="-1" />
   </joint>
 
   <link
@@ -518,7 +521,7 @@
       lower="-0.04"
       upper="0.025"
       effort="0"
-      velocity="3.1415963" />
+      velocity="0.015" />
   </joint>
 
 </robot>
\ No newline at end of file