diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py
index a5b9392..0abd3b2 100644
--- a/src/arm_pkg/arm_pkg/arm_node.py
+++ b/src/arm_pkg/arm_pkg/arm_node.py
@@ -87,13 +87,13 @@ class ArmNode(Node):
         )
         self.saved_joint_state = JointState()
         self.saved_joint_state.name = [
-            "Axis_0_Joint",
-            "Axis_1_Joint",
-            "Axis_2_Joint",
-            "Axis_3_Joint",
-            "Wrist_Differential_Joint",
-            "Wrist-EF_Roll_Joint",
-            "Gripper_Slider_Left",
+            "axis_0_joint",
+            "axis_1_joint",
+            "axis_2_joint",
+            "axis_3_joint",
+            "wrist_yaw_joint",
+            "wrist_roll_joint",
+            "ef_gripper_left_joint",
         ]
         self.saved_joint_state.position = [0.0] * len(
             self.saved_joint_state.name
@@ -133,7 +133,7 @@ class ArmNode(Node):
             return  # command needs either position or velocity for all 7 joints
 
         # Assumed order: Axis0, Axis1, Axis2, Axis3, Wrist_Yaw, Wrist_Roll, Gripper
-        # TODO: formalize joint names in URDF, refactor here to depend on joint names
+        # TODO: refactor to depend on joint names
         # Embedded takes deg*10, ROS2 uses Radians
         velocities = [
             math.degrees(vel) * 10 if abs(vel) > 0.05 else 0.0 for vel in msg.velocity
diff --git a/src/astra_descriptions b/src/astra_descriptions
index add9e47..72d3c22 160000
--- a/src/astra_descriptions
+++ b/src/astra_descriptions
@@ -1 +1 @@
-Subproject commit add9e47469f5f29fdbe99a8bbad4bc4c145c6efe
+Subproject commit 72d3c223afd141911a320245d29def695c48af96
diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py
index 9747bef..06498fb 100755
--- a/src/headless_pkg/src/headless_node.py
+++ b/src/headless_pkg/src/headless_node.py
@@ -474,7 +474,7 @@ class Headless(Node):
             # Triggers: EF Grippers
             if left_trigger > 0 or right_trigger > 0:
                 arm_jointjog.joint_names.append(
-                    "Gripper_Slider_Left"  # TODO: Update joint name
+                    "ef_gripper_left_joint"
                 )
                 arm_jointjog.velocities.append(float(right_trigger - left_trigger))