diff --git a/openarm_grip_description/urdf/openarm_grip.gazebo b/openarm_grip_description/urdf/openarm_grip.gazebo
index 87f3beb..41d5a94 100644
--- a/openarm_grip_description/urdf/openarm_grip.gazebo
+++ b/openarm_grip_description/urdf/openarm_grip.gazebo
@@ -4,7 +4,7 @@
 <xacro:property name="body_color" value="Gazebo/Silver" />
 
 <gazebo>
-  <plugin name="control" filename="libgazebo_ros_control.so"/>
+  <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="gz_ros2_control-system"/>
 </gazebo>
 <gazebo reference="base_link">
   <material>${body_color}</material>
diff --git a/openarm_grip_description/urdf/openarm_grip.urdf b/openarm_grip_description/urdf/openarm_grip.urdf
index a8a3595..b82bbf6 100644
--- a/openarm_grip_description/urdf/openarm_grip.urdf
+++ b/openarm_grip_description/urdf/openarm_grip.urdf
@@ -98,7 +98,7 @@
     </actuator>
   </transmission>
   <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="control"/>
+    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"/>
   </gazebo>
   <gazebo reference="base_link">
     <material>Gazebo/Silver</material>
@@ -161,9 +161,9 @@
     <mu2>0.2</mu2>
     <self_collide>true</self_collide>
   </gazebo>
-  <link name="dummy"/>
-  <joint name="dummy_joint" type="fixed">
-    <parent link="dummy"/>
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
     <child link="base_link"/>
     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
   </joint>
@@ -373,6 +373,7 @@
     <child link="J2_v1_1"/>
     <axis xyz="0.0 0.0 1.0"/>
     <limit acceleration="0.5" effort="100" lower="-2.356194" upper="2.356194" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="rev2" type="revolute">
     <origin rpy="0 0 0" xyz="0.02975 -0.0 0.04475"/>
@@ -380,6 +381,7 @@
     <child link="J3_v1_1"/>
     <axis xyz="-1.0 -0.0 0.0"/>
     <limit acceleration="0.5" effort="100" lower="-3.054326" upper="0.0" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="rev3" type="revolute">
     <origin rpy="0 0 0" xyz="-0.02975 0.06041 0.010107"/>
@@ -387,6 +389,7 @@
     <child link="J4_v1_1"/>
     <axis xyz="-0.0 0.986291 0.165017"/>
     <limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="rev4" type="revolute">
     <origin rpy="0 0 0" xyz="0.029755 0.238436 0.039893"/>
@@ -394,6 +397,7 @@
     <child link="J5_v1_1"/>
     <axis xyz="1.0 0.0 0.0"/>
     <limit acceleration="0.5" effort="100" lower="-3.141593" upper="0.0" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="rev5" type="revolute">
     <origin rpy="0 0 0" xyz="-0.029755 -0.13135 0.026265"/>
@@ -401,6 +405,7 @@
     <child link="J6_v1_1"/>
     <axis xyz="0.0 -0.980588 0.196078"/>
     <limit acceleration="0.5" effort="100" lower="-2.094395" upper="2.094395" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="rev6" type="revolute">
     <origin rpy="0 0 0" xyz="0.0355 -0.1187 0.023735"/>
@@ -408,12 +413,14 @@
     <child link="J7_v1_1"/>
     <axis xyz="-1.0 0.0 -0.0"/>
     <limit acceleration="0.5" effort="100" lower="-1.570796" upper="1.570796" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="rev7" type="continuous">
     <origin rpy="0 0 0" xyz="-0.0355 0.00303 0.01515"/>
     <parent link="J7_v1_1"/>
     <child link="grip_attach_1"/>
     <axis xyz="0.0 0.196078 0.980588"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="slider_left" type="prismatic">
     <origin rpy="0 0 0" xyz="-0.0775 -0.121655 0.012086"/>
@@ -421,6 +428,7 @@
     <child link="left_jaw_1"/>
     <axis xyz="-1.0 0.0 -0.0"/>
     <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="slider_right" type="prismatic">
     <origin rpy="0 0 0" xyz="0.0775 -0.121655 0.012086"/>
@@ -428,6 +436,7 @@
     <child link="right_jaw_1"/>
     <axis xyz="1.0 -0.0 0.0"/>
     <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
+    <dynamics damping="1.0" friction="1.0"/>
     <mimic joint="slider_left"/>
   </joint>
 </robot>
diff --git a/openarm_grip_description/urdf/openarm_grip.xacro b/openarm_grip_description/urdf/openarm_grip.xacro
index 307694c..e1e7ed7 100644
--- a/openarm_grip_description/urdf/openarm_grip.xacro
+++ b/openarm_grip_description/urdf/openarm_grip.xacro
@@ -1,12 +1,12 @@
 <?xml version="1.0" ?>
 <robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<xacro:include filename="$(find openarm_grip_description)/urdf/materials.xacro" />
-<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.trans" />
-<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.gazebo" />
-<link name="dummy"/>
-<joint name="dummy_joint" type="fixed">
-  <parent link="dummy"/>
+<xacro:include filename="package://openarm_grip_description/urdf/materials.xacro" />
+<xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.trans" />
+<xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.gazebo" />
+<link name="world"/>
+<joint name="world_joint" type="fixed">
+  <parent link="world"/>
   <child link="base_link"/>
   <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
 </joint>
@@ -228,6 +228,7 @@
   <child link="J2_v1_1"/>
   <axis xyz="0.0 0.0 1.0"/>
   <limit upper="2.356194" lower="-2.356194" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="rev2" type="revolute">
@@ -236,6 +237,7 @@
   <child link="J3_v1_1"/>
   <axis xyz="-1.0 -0.0 0.0"/>
   <limit upper="0.0" lower="-3.054326" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="rev3" type="revolute">
@@ -244,6 +246,7 @@
   <child link="J4_v1_1"/>
   <axis xyz="-0.0 0.986291 0.165017"/>
   <limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="rev4" type="revolute">
@@ -252,6 +255,7 @@
   <child link="J5_v1_1"/>
   <axis xyz="1.0 0.0 0.0"/>
   <limit upper="0.0" lower="-3.141593" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="rev5" type="revolute">
@@ -260,6 +264,7 @@
   <child link="J6_v1_1"/>
   <axis xyz="0.0 -0.980588 0.196078"/>
   <limit upper="2.094395" lower="-2.094395" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="rev6" type="revolute">
@@ -268,6 +273,7 @@
   <child link="J7_v1_1"/>
   <axis xyz="-1.0 0.0 -0.0"/>
   <limit upper="1.570796" lower="-1.570796" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="rev7" type="continuous">
@@ -275,6 +281,7 @@
   <parent link="J7_v1_1"/>
   <child link="grip_attach_1"/>
   <axis xyz="0.0 0.196078 0.980588"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="slider_left" type="prismatic">
@@ -283,6 +290,7 @@
   <child link="left_jaw_1"/>
   <axis xyz="-1.0 0.0 -0.0"/>
   <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
 <joint name="slider_right" type="prismatic">
@@ -291,6 +299,7 @@
   <child link="right_jaw_1"/>
   <axis xyz="1.0 -0.0 0.0"/>
   <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
+  <dynamics damping="1.0" friction="1.0"/>
   <mimic joint="slider_left"/>
 </joint>
 
diff --git a/openarm_moveit_config/config/moveit.rviz b/openarm_moveit_config/config/moveit.rviz
index 831593c..f52a245 100644
--- a/openarm_moveit_config/config/moveit.rviz
+++ b/openarm_moveit_config/config/moveit.rviz
@@ -31,7 +31,7 @@ Visualization Manager:
         Robot Alpha: 0.5
       Value: true
   Global Options:
-    Fixed Frame: dummy
+    Fixed Frame: world
   Tools:
     - Class: rviz_default_plugins/Interact
     - Class: rviz_default_plugins/MoveCamera
@@ -47,7 +47,7 @@ Visualization Manager:
         Z: 0.30
       Name: Current View
       Pitch: 0.5
-      Target Frame: dummy
+      Target Frame: world
       Yaw: -0.623
 Window Geometry:
   Height: 975
diff --git a/openarm_moveit_config/config/openarm_grip.srdf b/openarm_moveit_config/config/openarm_grip.srdf
index 2e44ced..e910649 100644
--- a/openarm_moveit_config/config/openarm_grip.srdf
+++ b/openarm_moveit_config/config/openarm_grip.srdf
@@ -10,7 +10,7 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="openarm_arm">
-        <joint name="dummy_joint"/>
+        <joint name="world_joint"/>
         <joint name="rev1"/>
         <joint name="rev2"/>
         <joint name="rev3"/>