diff --git a/launch/planning_context.launch b/launch/planning_context.launch
index e96133948929741d8d126e5942e648f3969029dd..f0ec470e19a41ec4899068296a6bb8faa6a2ad06 100644
--- a/launch/planning_context.launch
+++ b/launch/planning_context.launch
@@ -8,13 +8,13 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
-  <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+  <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+  <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
-  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
-  
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
+
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml"/>
@@ -24,5 +24,5 @@
   <group ns="$(arg robot_description)_kinematics">
     <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </group>
-  
+
 </launch>