diff --git a/launch/env.launch b/launch/env.launch
index 4517933..c40f708 100644
--- a/launch/env.launch
+++ b/launch/env.launch
@@ -6,6 +6,10 @@
   <!-- Load parameters -->
   <rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
 
+  <!-- Launch MoveIt -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
+  <include file="$(find panda_moveit_config)/launch/move_group.launch" />
+
   <!-- Simulated environment -->
   <group if="$(arg simulation)">
     <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
@@ -18,10 +22,6 @@
     <node pkg="active_grasp" type="hw_node.py" name="hw" output="screen" />
   </group>
 
-  <!-- Launch MoveIt -->
-  <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
-  <include file="$(find panda_moveit_config)/launch/move_group.launch" />
-
   <!-- Launch rviz -->
   <node if="$(arg launch_rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/cfg/active_grasp.rviz" />
 </launch>