diff --git a/src/picknik_ur_base_config/description/gripper_and_camera.xacro b/src/picknik_ur_base_config/description/gripper_and_camera.xacro
index 521ba63f..39289ab9 100644
--- a/src/picknik_ur_base_config/description/gripper_and_camera.xacro
+++ b/src/picknik_ur_base_config/description/gripper_and_camera.xacro
@@ -3,7 +3,7 @@
 <robot name="ur5e_gripper_and_camera" xmlns:xacro="http://wiki.ros.org/xacro">
   <!-- Import macros for main hardware components -->
   <xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
-  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_gripper_macro.urdf.xacro" />
+  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
   <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro"/>
   <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
 
diff --git a/src/picknik_ur_base_config/description/picknik_ur5e.xacro b/src/picknik_ur_base_config/description/picknik_ur5e.xacro
index 256ecb6c..73f4e2bf 100644
--- a/src/picknik_ur_base_config/description/picknik_ur5e.xacro
+++ b/src/picknik_ur_base_config/description/picknik_ur5e.xacro
@@ -24,7 +24,7 @@
   <!-- Import macros for main hardware components -->
   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro" />
   <xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
-  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_gripper_macro.urdf.xacro" />
+  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
   <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro" />
   <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro" />
   <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro" />
diff --git a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
index 72b9cdc5..59ec0cde 100644
--- a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
+++ b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
@@ -12,7 +12,7 @@
   <!-- Import macros for main hardware components -->
   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro" />
   <xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
-  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_gripper_macro.urdf.xacro" />
+  <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
   <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro" />
   <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro" />
   <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro" />