parameter passed to xacro not changing the default one

edit

I'm trying to make a .xacro file for a UR5e robot, that allows choosing the gripper at launch, which means choosing different macros inside of it and I'm doing it based on the answer here. The setup is based on the ur moveit config so launching the robot goes like this:

1. You launch robot_setup.launch
2. which launches planning_execution.launch
3. which then launches planning_context.launch
4. from which the robot.xacro is read as a <param...

I want to change a parameter at robot_setup.launch and have it change a parameter in the .xacro.

Snippet of the xacro code:

<xacro:arg name="gripper_type" default="other"/>
<xacro:property name="gripper_type" value="$(arg gripper_type)" />

<!-- instantiating arm and gripper -->
<xacro:if value="${gripper_type == 'robotiq'}">
    <xacro:robotiq_arg2f_140 prefix="${arm_prefix}"/>
</xacro:if>

<xacro:if value="${gripper_type == 'other'}">
    <xacro:vacuum_gripper_definition prefix="${arm_prefix}" gripper_adjustment="0.00"/>
</xacro:if>

So I'm trying to pass gripper_type from the robot_setup.launch all the way through the mentioned files, to change it in the .xacro, but in the end, the default value in the .xacro stays unchanged, so what am I doing wrong?

Snippet from setup.launch:

<arg name="gripper_type" default="other" />

<include file="$(find moveit_config)/launch/planning_execution.launch">
    <arg name="gripper_type" value="$(arg gripper_type)" />
</include>

Snippet from planning_execution.launch:

  <arg name="gripper_type"/>

  <include file="$(find moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true"/>
    <arg name="gripper_type" value="$(arg gripper_type)"/>
  </include>

Snippet from planning_context.launch:

<arg name="gripper_type"/> 

<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find robot_config)/urdf/.xacro' gripper_type:=$(arg gripper_type)"/>