diff --git a/sample/other/baxter/baxter_moveit.launch b/sample/other/baxter/baxter_moveit.launch
index 63d46e30..13e95515 100644
--- a/sample/other/baxter/baxter_moveit.launch
+++ b/sample/other/baxter/baxter_moveit.launch
@@ -6,6 +6,8 @@
   <arg name="arm_control_mode" default="position_w_id" />
   <arg name="moveit" default="true" />
   <arg name="gui" default="true" />
+  <arg name="lgripper_type" default="softhand" />
+  <arg name="rgripper_type" default="softhand" />
   <arg name="launch_tabletop_detector" default="true" />
 
   <include file="$(find eus_vive)/launch/baxter/baxter.launch">
@@ -15,6 +17,8 @@
     <arg name="arm_interpolation" value="$(arg arm_interpolation)" />
     <arg name="arm_control_mode" value="$(arg arm_control_mode)" />
     <arg name="moveit" value="$(arg moveit)" />
+    <arg name="lgripper_type" value="$(arg lgripper_type)" />
+    <arg name="rgripper_type" value="$(arg rgripper_type)" />
     <arg name="launch_tabletop_detector" value="$(arg launch_tabletop_detector)" />
   </include>