diff --git a/src/astra_arm_moveit_config/.setup_assistant b/src/astra_arm_moveit_config/.setup_assistant
index 643b9d0..76901f9 100644
--- a/src/astra_arm_moveit_config/.setup_assistant
+++ b/src/astra_arm_moveit_config/.setup_assistant
@@ -7,4 +7,21 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: David Sharpe
     author_email: ds0196@uah.edu
-    generated_timestamp: 1755560756
\ No newline at end of file
+    generated_timestamp: 1755622867
+  control_xacro:
+    command:
+      - position
+      - velocity
+    state:
+      - position
+      - velocity
+  modified_urdf:
+    xacros:
+      - control_xacro
+  control_xacro:
+    command:
+      - position
+      - velocity
+    state:
+      - position
+      - velocity
\ No newline at end of file
diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro b/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
index 20a210b..717c34d 100644
--- a/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
+++ b/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
@@ -56,14 +56,6 @@
                 </state_interface>
                 <state_interface name="velocity"/>
             </joint>
-            <joint name="Gripper_Slider_Left">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['Gripper_Slider_Left']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
             <joint name="Gripper _Slider_Right">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
@@ -72,6 +64,14 @@
                 </state_interface>
                 <state_interface name="velocity"/>
             </joint>
+            <joint name="Gripper_Slider_Left">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['Gripper_Slider_Left']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
 
         </ros2_control>
     </xacro:macro>
diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf b/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
index eaef882..d3db148 100644
--- a/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
+++ b/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
@@ -45,13 +45,13 @@
         <joint name="Wrist_Differential_Joint" value="0"/>
     </group_state>
     <group_state name="Open" group="Hand">
-        <joint name="Gripper_Slider_Left" value="-0.04"/>
         <joint name="Gripper _Slider_Right" value="0.04"/>
+        <joint name="Gripper_Slider_Left" value="-0.04"/>
         <joint name="Wrist-EF_Roll_Joint" value="0"/>
     </group_state>
     <group_state name="Close" group="Hand">
-        <joint name="Gripper_Slider_Left" value="0.0215"/>
         <joint name="Gripper _Slider_Right" value="-0.0215"/>
+        <joint name="Gripper_Slider_Left" value="0.0215"/>
         <joint name="Wrist-EF_Roll_Joint" value="0"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
diff --git a/src/astra_arm_moveit_config/config/initial_positions.yaml b/src/astra_arm_moveit_config/config/initial_positions.yaml
index 5672b95..84d7aae 100644
--- a/src/astra_arm_moveit_config/config/initial_positions.yaml
+++ b/src/astra_arm_moveit_config/config/initial_positions.yaml
@@ -5,7 +5,7 @@ initial_positions:
   Axis_1_Joint: 0
   Axis_2_Joint: 0
   Axis_3_Joint: 0
-  Gripper_Slider_Left: 0
   Gripper _Slider_Right: 0
-  Wrist_Differential_Joint: 0
-  Wrist-EF_Roll_Joint: 0
\ No newline at end of file
+  Gripper_Slider_Left: 0
+  Wrist-EF_Roll_Joint: 0
+  Wrist_Differential_Joint: 0
\ No newline at end of file
diff --git a/src/astra_arm_moveit_config/config/kinematics.yaml b/src/astra_arm_moveit_config/config/kinematics.yaml
index 7407be9..6fc93c3 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: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver: pick_ik/PickIkPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
   kinematics_solver_timeout: 0.0050000000000000001
\ No newline at end of file
diff --git a/src/astra_arm_moveit_config/config/ros2_controllers.yaml b/src/astra_arm_moveit_config/config/ros2_controllers.yaml
index 4b3763a..bafb640 100644
--- a/src/astra_arm_moveit_config/config/ros2_controllers.yaml
+++ b/src/astra_arm_moveit_config/config/ros2_controllers.yaml
@@ -3,48 +3,33 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
     astra_arm_controller:
       type: joint_trajectory_controller/JointTrajectoryController
-      ros__parameters:
-        joints: 
-        - Axis_0_Joint
-        - Axis_1_Joint
-        - Axis_2_Joint
-        - Axis_3_Joint
-        - Wrist_Differential_Joint
-        command_interfaces: 
-        - position
-        state_interfaces: 
-        - position
-        allow_nonzero_velocity_at_trajectory_end: true
+
 
     hand_controller:
       type: position_controllers/GripperActionController
-      ros__parameters:
-        joint: 
-        - Wrist-EF_Roll_Joint
-        command_interfaces: 
-        - position
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
 
 astra_arm_controller:
   ros__parameters:
-    joints: 
+    joints:
     - Axis_0_Joint
     - Axis_1_Joint
     - Axis_2_Joint
     - Axis_3_Joint
     - Wrist_Differential_Joint
-    command_interfaces: 
+    command_interfaces:
     - position
-    state_interfaces: 
+    - velocity
+    state_interfaces:
     - position
+    - velocity
     allow_nonzero_velocity_at_trajectory_end: true
 
 hand_controller:
   ros__parameters:
     joint: Wrist-EF_Roll_Joint
-    command_interfaces: 
-    - position
\ No newline at end of file
diff --git a/src/astra_arm_moveit_config/package.xml b/src/astra_arm_moveit_config/package.xml
index bcdbc06..d738ff6 100644
--- a/src/astra_arm_moveit_config/package.xml
+++ b/src/astra_arm_moveit_config/package.xml
@@ -43,6 +43,7 @@
   <exec_depend>rviz_default_plugins</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>warehouse_ros_mongo</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
 
   <export>