From c56de49b88b49d43725e7a0635df29542272f72a Mon Sep 17 00:00:00 2001
From: Pasquale Marra <143645988+PasMarra@users.noreply.github.com>
Date: Fri, 13 Oct 2023 09:02:34 +0200
Subject: [PATCH] Joint name aligned with the documentation

---
 .../iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini  | 2 +-
 .../iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
index 1fc3884..4e0c665 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini
@@ -12,7 +12,7 @@ max_damping   100.0  100.0  100.0  100.0
 trajectory_type minimum_jerk
 
 [COUPLING]
-fingers_abduction_control (0 1 2 3) (l_hand_fingers reserved reserved reserved reserved) (0.0) (60.0)
+fingers_abduction_control (0 1 2 3) (l_hand_finger reserved reserved reserved reserved) (0.0) (60.0)
 
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
diff --git a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini
index 58a85a4..2152465 100644
--- a/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini
+++ b/iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini
@@ -12,7 +12,7 @@ max_damping   100.0  100.0  100.0  100.0
 trajectory_type minimum_jerk
 
 [COUPLING]
-fingers_abduction_control (0 1 2 3) (r_hand_fingers reserved reserved reserved reserved) (0.0) (60.0)
+fingers_abduction_control (0 1 2 3) (r_hand_finger reserved reserved reserved reserved) (0.0) (60.0)
 
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values