diff --git a/README.md b/README.md
index 3063460..e1fa0ff 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,10 @@
 # kuka_robot_descriptions
 
-This package contains resources that can be used with real KUKA robots as well as with simulations.
+This package contains support packages that can be used with real KUKA robots as well as with simulations.
 
 Github CI 
 ------------
-[![Build Status](https://github.com/kroshu/kuka_simulators/workflows/CI/badge.svg?branch=main)](https://github.com/kroshu/kuka_simulators/actions)
+[![Build Status](https://github.com/kroshu/kuka_robot_descriptions/workflows/CI/badge.svg?branch=main)](https://github.com/kroshu/kuka_robot_descriptions/actions)
 
 ## What is included?
 
diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro
index d085571..a9e1e93 100644
--- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro
+++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro
@@ -3,7 +3,7 @@
     This is a format for representing semantic information about the robot structure.
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy11R1300">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy11_r1300">
   <xacro:include filename="lbr_iisy_arm.macro.xacro" />
   <xacro:kuka_lbr_iisy_arm prefix=""/>
 </robot>
diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro
index e0efaf5..452f1e5 100644
--- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro
+++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro
@@ -3,7 +3,7 @@
     This is a format for representing semantic information about the robot structure.
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy15R930">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy15_r930">
   <xacro:include filename="lbr_iisy_arm.macro.xacro" />
   <xacro:kuka_lbr_iisy_arm prefix=""/>
 </robot>
diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro
index 6dff111..b268d3b 100644
--- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro
+++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro
@@ -3,7 +3,7 @@
     This is a format for representing semantic information about the robot structure.
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy3R760">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy3_r760">
   <xacro:include filename="lbr_iisy_arm.macro.xacro" />
   <xacro:kuka_lbr_iisy_arm prefix=""/>
 </robot>
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/base_link.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/base_link.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/base_link.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_1.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_1.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_1.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_2.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_2.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_2.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_3.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_3.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_3.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_4.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_4.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_4.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_5.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_5.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_5.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_6.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_6.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_6.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/base_link.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/base_link.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/base_link.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_1.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_1.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_1.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_2.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_2.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_2.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_3.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_3.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_3.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_4.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_4.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_4.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_5.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_5.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_5.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_6.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_6.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_6.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/base_link.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/base_link.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/base_link.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_1.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_1.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_1.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_2.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_2.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_2.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_3.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_3.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_3.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_4.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_4.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_4.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_5.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_5.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_5.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_6.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_6.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_6.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/base_link.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/base_link.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/base_link.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_1.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_1.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_1.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_2.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_2.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_2.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_3.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_3.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_3.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_4.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_4.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_4.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_5.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_5.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_5.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_6.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_6.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_6.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/base_link.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/base_link.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/base_link.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_1.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_1.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_1.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_2.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_2.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_2.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_3.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_3.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_3.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_4.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_4.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_4.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_5.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_5.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_5.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_6.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_6.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_6.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/base_link.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/base_link.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/base_link.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_1.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_1.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_1.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_2.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_2.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_2.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_3.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_3.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_3.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_4.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_4.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_4.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_5.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_5.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_5.stl
diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_6.stl
similarity index 100%
rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_6.stl
rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_6.stl
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro
index df846c3..0de7b3d 100644
--- a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro
+++ b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy11R1300">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy11_r1300">
 <!-- Import iisy urdf file  -->
 <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy11_r1300_macro.xacro"/>
 
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro
index 2211c4f..fb862d4 100644
--- a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro
+++ b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy11R1300">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy11_r1300">
   <!-- include helper xacros -->
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
@@ -8,7 +8,7 @@
   <xacro:macro name="kuka_lbr11_r1300_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
-    name="LBRiisy11R1300" 
+    name="lbr_iisy11_r1300" 
     prefix="${prefix}"
     client_ip="${client_ip}"
     controller_ip="${controller_ip}"
@@ -23,7 +23,7 @@
     <link name="${prefix}base_link_inertia">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/base_link.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/base_link.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -34,7 +34,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/base_link.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/base_link.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -43,7 +43,7 @@
     <link name="${prefix}link_1">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_1.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_1.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -54,7 +54,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_1.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_1.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -63,7 +63,7 @@
     <link name="${prefix}link_2">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_2.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_2.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -74,7 +74,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_2.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_2.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -83,7 +83,7 @@
     <link name="${prefix}link_3">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_3.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_3.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -94,7 +94,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_3.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_3.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -103,7 +103,7 @@
     <link name="${prefix}link_4">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_4.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_4.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -114,7 +114,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_4.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_4.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -123,7 +123,7 @@
     <link name="${prefix}link_5">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_5.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_5.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -134,7 +134,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_5.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_5.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -143,7 +143,7 @@
     <link name="${prefix}link_6">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_6.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_6.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -154,7 +154,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_6.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_6.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro
index 5a9eeba..c089139 100644
--- a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro
+++ b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy15R930">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy15_r930">
 <!-- Import iisy urdf file  -->
 <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy15_r930_macro.xacro"/>
 
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro
index 71c98ab..4838294 100644
--- a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro
+++ b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy15R930">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy15_r930">
   <!-- include helper xacros -->
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
@@ -8,7 +8,7 @@
   <xacro:macro name="kuka_lbr15_r930_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
-    name="LBRiisy15R930" 
+    name="lbr_iisy15_r930" 
     prefix="${prefix}"
     client_ip="${client_ip}"
     controller_ip="${controller_ip}"
@@ -23,7 +23,7 @@
     <link name="${prefix}base_link_inertia">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/base_link.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/base_link.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -34,7 +34,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/base_link.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/base_link.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -43,7 +43,7 @@
     <link name="${prefix}link_1">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_1.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_1.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -54,7 +54,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_1.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_1.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -63,7 +63,7 @@
     <link name="${prefix}link_2">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_2.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_2.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -74,7 +74,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_2.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_2.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -83,7 +83,7 @@
     <link name="${prefix}link_3">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_3.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_3.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -94,7 +94,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_3.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_3.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -103,7 +103,7 @@
     <link name="${prefix}link_4">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_4.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_4.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -114,7 +114,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_4.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_4.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -123,7 +123,7 @@
     <link name="${prefix}link_5">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_5.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_5.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -134,7 +134,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_5.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_5.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -143,7 +143,7 @@
     <link name="${prefix}link_6">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_6.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_6.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -154,7 +154,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_6.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_6.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro
index 6b7cf34..ad89f75 100644
--- a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro
+++ b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy3R760">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy3_r760">
 <!-- Import iisy urdf file  -->
 <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy3_r760_macro.xacro"/>
 
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro
index 05957f6..f68463e 100644
--- a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro
+++ b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="LBRiisy3R760">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="lbr_iisy3_r760">
   <!-- include helper xacros -->
   <xacro:include filename="$(find kuka_lbr_iisy_support)/urdf/lbr_iisy_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
@@ -8,7 +8,7 @@
   <xacro:macro name="kuka_lbr3_r760_robot" params="prefix client_ip controller_ip control_mode consequent_lost_packets lost_packets_in_timeframe timeframe_ms use_fake_hardware:=false">
     <!-- ros2 control instance -->
     <xacro:kuka_lbr_iisy_ros2_control
-    name="LBRiisy3R760" 
+    name="lbr_iisy3_r760" 
     prefix="${prefix}"
     client_ip="${client_ip}"
     controller_ip="${controller_ip}"
@@ -24,7 +24,7 @@
     <link name="${prefix}base_link_inertia">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/base_link.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/base_link.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -35,7 +35,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/base_link.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/base_link.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -44,7 +44,7 @@
     <link name="${prefix}link_1">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_1.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_1.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -55,7 +55,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_1.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_1.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -64,7 +64,7 @@
     <link name="${prefix}link_2">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_2.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_2.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -75,7 +75,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_2.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_2.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -84,7 +84,7 @@
     <link name="${prefix}link_3">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_3.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_3.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -95,7 +95,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_3.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_3.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -104,7 +104,7 @@
     <link name="${prefix}link_4">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_4.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_4.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -115,7 +115,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_4.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_4.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -124,7 +124,7 @@
     <link name="${prefix}link_5">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_5.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_5.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -135,7 +135,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_5.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_5.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />
@@ -144,7 +144,7 @@
     <link name="${prefix}link_6">
       <collision>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_6.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_6.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
       </collision>
@@ -155,7 +155,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="package://kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_6.stl" />
+          <mesh filename="package://kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_6.stl" />
         </geometry>
         <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
         <xacro:material_kuka_ral_pure_white />