diff --git a/scripts/envs/open_manipulator/ros_interface.py b/scripts/envs/open_manipulator/ros_interface.py
index 3555481..d9a08c2 100755
--- a/scripts/envs/open_manipulator/ros_interface.py
+++ b/scripts/envs/open_manipulator/ros_interface.py
@@ -10,8 +10,8 @@ import rospy  # noqa
 import tf  # noqa
 import tf.transformations as tr  # noqa
 from gazebo_msgs.srv import DeleteModel, GetModelState, SpawnModel  # noqa
-from gazebo_msgs.srv import GetJointProperties, SetJointProperties
-from gazebo_msgs.srv import GetJointPropertiesRequest, SetJointPropertiesRequest
+from gazebo_msgs.srv import GetLinkProperties, SetLinkProperties
+from gazebo_msgs.srv import GetLinkPropertiesRequest, SetLinkPropertiesRequest
 from geometry_msgs.msg import Pose
 from open_manipulator_msgs.msg import KinematicsPose, OpenManipulatorState
 from pykdl_utils.kdl_kinematics import KDLKinematics
@@ -381,11 +381,11 @@ class OpenManipulatorRosGazeboInterface(OpenManipulatorRosBaseInterface):
     def __init__(self, cfg):
         rospy.init_node("OpenManipulatorRosGazeboInterface")
         super(OpenManipulatorRosGazeboInterface, self).__init__(cfg)
-        self.get_joint_properties = rospy.ServiceProxy('/gazebo/get_joint_properties', GetJointProperties)
-        self.set_joint_properties = rospy.ServiceProxy('/gazebo/set_joint_properties', SetJointProperties)
+        self.get_link_properties = rospy.ServiceProxy('/gazebo/get_link_properties', GetLinkProperties)
+        self.set_link_properties = rospy.ServiceProxy('/gazebo/set_link_properties', SetLinkProperties)
 
-        print([j.name for j in self.robot.joints])
-        print(self.get_joint_properties(GetJointPropertiesRequest('joint1')))
+        print([j.name for j in self.robot.links])
+        print(self.get_link_properties(GetLinkPropertiesRequest('joint1')))
 
     def reset_gazebo_world(self, block_pose=None):
         """Initialize randomly the state of robot agent and surrounding envs (including target obj.)."""