From 5809be6d15213fb2da84ade8a2d296ea72c7aa2a Mon Sep 17 00:00:00 2001
From: Fujimoto Seiji <fujimoto@ceptord.net>
Date: Sun, 9 Feb 2025 00:08:54 +0000
Subject: [PATCH] Fix the slider name from 'slider_left' to 'slider_right'

When I tried to load the URDF file on MuJoCo, it failed with the
following error message:

    Duplicated slider name "slider_left"

It turned out that the issue was the right slider being wrongly
tagged as 'slider_left' (not 'slider_right'). Fix it thusly.

Signed-off-by: Fujimoto Seiji <fujimoto@ceptord.net>
---
 openarm_grip_description/urdf/openarm_grip.urdf  | 2 +-
 openarm_grip_description/urdf/openarm_grip.xacro | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

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"/>