diff --git a/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H21.launch b/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H21.launch
index 2e1a06c..a261954 100644
--- a/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H21.launch
+++ b/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H21.launch
@@ -8,7 +8,13 @@
     <arg name="paused" value="true"/>
     <!-- more default parameters can be changed here -->
   </include>
-  <rosparam file="$(find nao_dcm_gazebo)/config/gazebo_ros_control_params.yaml" command="load"/>
+
+  <!-- Use PIDs?? -->
+  <arg name="use_pid" value="false"/>
+
+  <group if="$(arg use_pid)">
+    <rosparam file="$(find nao_dcm_gazebo)/config/gazebo_ros_control_params.yaml" command="load"/>
+  </group>
 
   <!-- Call Nao Robot Trajectory Controller -->
   <include file="$(find nao_dcm_control)/launch/nao_dcm_trajectory_control_H21.launch"/>
diff --git a/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H25.launch b/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H25.launch
index 14dc745..5d31718 100644
--- a/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H25.launch
+++ b/nao_dcm_apps/nao_dcm_gazebo/launch/nao_dcm_gazebo_H25.launch
@@ -8,7 +8,13 @@
     <arg name="paused" value="true"/>
     <!-- more default parameters can be changed here -->
   </include>
-  <rosparam file="$(find nao_dcm_gazebo)/config/gazebo_ros_control_params.yaml" command="load"/>
+
+  <!-- Use PIDs?? -->
+  <arg name="use_pid" value="false"/>
+
+  <group if="$(arg use_pid)">
+    <rosparam file="$(find nao_dcm_gazebo)/config/gazebo_ros_control_params.yaml" command="load"/>
+  </group>
 
   <!-- Call Nao Robot Trajectory Controller -->
   <include file="$(find nao_dcm_control)/launch/nao_dcm_trajectory_control_H25.launch"/>
diff --git a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
index ffadaa8..3367a37 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
@@ -141,63 +141,63 @@
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LFinger12">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LFinger13">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LFinger21">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LFinger22">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LFinger23">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LThumb1">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LThumb2">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="l_gripper">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RShoulder">
         <mu1>0.5</mu1>
@@ -230,63 +230,63 @@
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RFinger12">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RFinger13">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RFinger21">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RFinger22">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RFinger23">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RThumb1">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="RThumb2">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="r_gripper">
         <material>Gazebo/Yellow</material>
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
         <selfCollide>false</selfCollide>
-        <turnGravityOff>false</turnGravityOff>
+        <turnGravityOff>true</turnGravityOff>
     </gazebo>
     <gazebo reference="LHipYaw">
         <material>Gazebo/Green</material>