diff --git a/robotiq_description/urdf/2f_140.ros2_control.xacro b/robotiq_description/urdf/2f_140.ros2_control.xacro
index 80c4294..809b352 100644
--- a/robotiq_description/urdf/2f_140.ros2_control.xacro
+++ b/robotiq_description/urdf/2f_140.ros2_control.xacro
@@ -4,7 +4,7 @@
     <xacro:macro name="robotiq_gripper_ros2_control" params="
         name
         prefix
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
@@ -20,7 +20,7 @@
                     <param name="joint_commands_topic">${isaac_joint_commands}</param>
                     <param name="joint_states_topic">${isaac_joint_states}</param>
                 </xacro:if>
-                <xacro:if value="${sim_ignition}">
+                <xacro:if value="${sim_gazebo}">
                     <plugin>ign_ros2_control/IgnitionSystem</plugin>
                 </xacro:if>
                 <xacro:if value="${use_fake_hardware}">
@@ -28,7 +28,7 @@
                     <param name="fake_sensor_commands">${fake_sensor_commands}</param>
                     <param name="state_following_offset">0.0</param>
                 </xacro:if>
-                <xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
+                <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
                     <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
                     <param name="gripper_closed_position">0.695</param>
                     <param name="COM_port">${com_port}</param>
@@ -38,7 +38,7 @@
             </hardware>
 
             <!-- Joint interfaces -->
-            <!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
+            <!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
             <joint name="${prefix}finger_joint">
                 <command_interface name="position" />
                 <state_interface name="position">
@@ -47,47 +47,37 @@
                 <state_interface name="velocity"/>
             </joint>
             <!-- When simulating we need to include the rest of the gripper joints -->
-            <xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
+            <xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
                 <joint name="${prefix}left_inner_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}left_inner_finger_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_outer_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_inner_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_inner_finger_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
@@ -96,7 +86,7 @@
             </xacro:if>
 
             <!-- Only add this with fake hardware mode -->
-            <xacro:unless value="${sim_ignition or sim_isaac}">
+            <xacro:unless value="${sim_gazebo or sim_isaac}">
                 <gpio name="reactivate_gripper">
                     <command_interface name="reactivate_gripper_cmd" />
                     <command_interface name="reactivate_gripper_response" />
diff --git a/robotiq_description/urdf/2f_85.ros2_control.xacro b/robotiq_description/urdf/2f_85.ros2_control.xacro
index 96d3969..44b4603 100644
--- a/robotiq_description/urdf/2f_85.ros2_control.xacro
+++ b/robotiq_description/urdf/2f_85.ros2_control.xacro
@@ -4,7 +4,7 @@
     <xacro:macro name="robotiq_gripper_ros2_control" params="
         name
         prefix
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
@@ -25,7 +25,7 @@
                     <param name="joint_states_topic">${isaac_joint_states}</param>
                     <param name="trigger_joint_command_threshold">0.02</param>
                 </xacro:if>
-                <xacro:if value="${sim_ignition}">
+                <xacro:if value="${sim_gazebo}">
                     <plugin>ign_ros2_control/IgnitionSystem</plugin>
                 </xacro:if>
                 <xacro:if value="${use_fake_hardware}">
@@ -33,7 +33,7 @@
                     <param name="fake_sensor_commands">${fake_sensor_commands}</param>
                     <param name="state_following_offset">0.0</param>
                 </xacro:if>
-                <xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
+                <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
                     <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
                     <param name="gripper_closed_position">0.7929</param>
                     <param name="COM_port">${com_port}</param>
@@ -43,7 +43,7 @@
             </hardware>
 
             <!-- Joint interfaces -->
-            <!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
+            <!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
             <joint name="${prefix}robotiq_85_left_knuckle_joint">
                 <command_interface name="position" />
                 <state_interface name="position">
@@ -52,47 +52,37 @@
                 <state_interface name="velocity"/>
             </joint>
             <!-- When simulating we need to include the rest of the gripper joints -->
-            <xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
+            <xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
                 <joint name="${prefix}robotiq_85_right_knuckle_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_left_inner_knuckle_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_right_inner_knuckle_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_left_finger_tip_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_right_finger_tip_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
+                    <xacro:unless value="${sim_gazebo}">
                         <command_interface name="position"/>
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
@@ -101,7 +91,7 @@
             </xacro:if>
 
             <!-- Only add this with fake hardware mode -->
-            <xacro:unless value="${sim_ignition or sim_isaac}">
+            <xacro:unless value="${sim_gazebo or sim_isaac}">
                 <gpio name="reactivate_gripper">
                     <command_interface name="reactivate_gripper_cmd" />
                     <command_interface name="reactivate_gripper_response" />
diff --git a/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro b/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
index 9a2cc7d..9423d8c 100644
--- a/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
+++ b/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
@@ -5,7 +5,7 @@
         prefix
         parent
         *origin
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
@@ -20,7 +20,7 @@
         <xacro:if value="${include_ros2_control}">
             <xacro:robotiq_gripper_ros2_control
                 name="${name}" prefix="${prefix}"
-                sim_ignition="${sim_ignition}"
+                sim_gazebo="${sim_gazebo}"
                 sim_isaac="${sim_isaac}"
                 isaac_joint_commands="${isaac_joint_commands}"
                 isaac_joint_states="${isaac_joint_states}"
diff --git a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
index 7ec0918..f6d4706 100644
--- a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
+++ b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
@@ -5,7 +5,7 @@
         prefix
         parent
         *origin
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
@@ -20,7 +20,7 @@
         <xacro:if value="${include_ros2_control}">
             <xacro:robotiq_gripper_ros2_control
                 name="${name}" prefix="${prefix}"
-                sim_ignition="${sim_ignition}"
+                sim_gazebo="${sim_gazebo}"
                 sim_isaac="${sim_isaac}"
                 isaac_joint_commands="${isaac_joint_commands}"
                 isaac_joint_states="${isaac_joint_states}"