diff --git a/openarm_grip_description/urdf/openarm_grip.urdf b/openarm_grip_description/urdf/openarm_grip.urdf
index c1f0ef4..1bc4a74 100644
--- a/openarm_grip_description/urdf/openarm_grip.urdf
+++ b/openarm_grip_description/urdf/openarm_grip.urdf
@@ -422,7 +422,7 @@
     <axis xyz="-1.0 0.0 -0.0"/>
     <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
   </joint>
-  <joint name="slider_left" type="prismatic">
+  <joint name="slider_right" type="prismatic">
     <origin rpy="0 0 0" xyz="0.0775 -0.121655 0.012086"/>
     <parent link="grip_attach_1"/>
     <child link="right_jaw_1"/>
diff --git a/openarm_grip_description/urdf/openarm_grip.xacro b/openarm_grip_description/urdf/openarm_grip.xacro
index 559e4e9..fa576e5 100644
--- a/openarm_grip_description/urdf/openarm_grip.xacro
+++ b/openarm_grip_description/urdf/openarm_grip.xacro
@@ -285,7 +285,7 @@
   <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
 </joint>
 
-<joint name="slider_left" type="prismatic">
+<joint name="slider_right" type="prismatic">
   <origin xyz="0.0775 -0.121655 0.012086" rpy="0 0 0"/>
   <parent link="grip_attach_1"/>
   <child link="right_jaw_1"/>