diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 1803b20..ee23a3c 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -8,10 +8,11 @@ ARG USERNAME=user
 
 WORKDIR /workspaces
 
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && mkdir -p -m 0700 /run/user/"${USER_UID}" \
-    && mkdir -p -m 0700 /run/user/"${USER_UID}"/gdm \
+# Create the user with the given UID and GID
+RUN groupadd --gid $USER_GID $USERNAME
+RUN useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
+RUN mkdir -p -m 0700 /run/user/"${USER_UID}"
+RUN mkdir -p -m 0700 /run/user/"${USER_UID}"/gdm \
     && chown user:user /run/user/"${USER_UID}" \
     && chown user:user /workspaces \
     && chown user:user /run/user/"${USER_UID}"/gdm 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1e81e88..e1db46b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ endif()
 
 # Install launch files.
 install(DIRECTORY
-  launch robots end_effectors meshes rviz
+  launch robots end_effectors meshes rviz urdfs
   DESTINATION share/${PROJECT_NAME}/
 )
 
diff --git a/robots/moonshot_panda/moonshot_panda.urdf.xacro b/robots/moonshot_panda/moonshot_panda.urdf.xacro
index be6af55..d98255b 100644
--- a/robots/moonshot_panda/moonshot_panda.urdf.xacro
+++ b/robots/moonshot_panda/moonshot_panda.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="multi_arm">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="moonshot_panda">
 
   <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
 
diff --git a/scripts/create_urdf.sh b/scripts/create_urdf.sh
index b8ec3d8..655e273 100755
--- a/scripts/create_urdf.sh
+++ b/scripts/create_urdf.sh
@@ -11,4 +11,4 @@ sudo docker run -u $(id -u) \
     -v $(pwd):/workspaces/src/moonshot_franka_description \
     -w /workspaces/src/moonshot_franka_description \
     urdf_creation \
-    .docker/create_urdf.entrypoint.sh $*
+    .docker/create_urdf.entrypoint.sh moonshot_panda --robot-ee franka_hand
diff --git a/scripts/visualize_franka.sh b/scripts/visualize_franka.sh
index 3184af8..373a8db 100755
--- a/scripts/visualize_franka.sh
+++ b/scripts/visualize_franka.sh
@@ -13,4 +13,4 @@ sudo docker run -it -u $(id -u) \
     -v $(pwd):/workspaces/src/moonshot_franka_description \
     -w /workspaces/src/moonshot_franka_description \
     urdf_creation \
-    .docker/visualize_franka.entrypoint.sh $*
\ No newline at end of file
+    .docker/visualize_franka.entrypoint.sh arm_id:=moonshot_panda
\ No newline at end of file