diff --git a/robots/g1_description/dex3_1_l.urdf b/robots/g1_description/dex3_1_l.urdf
index 2dc0094..6bc1690 100644
--- a/robots/g1_description/dex3_1_l.urdf
+++ b/robots/g1_description/dex3_1_l.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_29dof_with_hand_rev_1_0">
+<robot name="dex3_1_l">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false"/>
   </mujoco>
diff --git a/robots/g1_description/dex3_1_r.urdf b/robots/g1_description/dex3_1_r.urdf
index c6d597f..6a33218 100644
--- a/robots/g1_description/dex3_1_r.urdf
+++ b/robots/g1_description/dex3_1_r.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_29dof_with_hand_rev_1_0">
+<robot name="dex3_1_r">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false"/>
   </mujoco>
diff --git a/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf b/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf
index d1bed0c..485803d 100644
--- a/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf
+++ b/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_29dof_rev_1_0">
+<robot name="g1_29dof_rev_1_0_with_inspire_hand_DFQ">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false" />
   </mujoco>
diff --git a/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf b/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf
index ee41953..0d2923c 100644
--- a/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf
+++ b/robots/g1_description/g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_29dof_rev_1_0">
+<robot name="g1_29dof_rev_1_0_with_inspire_hand_FTP">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false" />
   </mujoco>
diff --git a/robots/g1_description/g1_comp.urdf b/robots/g1_description/g1_comp.urdf
index 0c8d591..8e86511 100644
--- a/robots/g1_description/g1_comp.urdf
+++ b/robots/g1_description/g1_comp.urdf
@@ -1,4 +1,4 @@
-<robot name="g1_23dof_rev_1_0">
+<robot name="g1_comp">
   <mujoco>
     <compiler meshdir="meshes" discardvisual="false"/>
   </mujoco>