diff --git a/openrave/teo/teo.robot.xml b/openrave/teo/teo.robot.xml
index 0f7cd8a..3aba13c 100644
--- a/openrave/teo/teo.robot.xml
+++ b/openrave/teo/teo.robot.xml
@@ -45,32 +45,32 @@
     </Manipulator>
 
     <Manipulator name="rightArm">
-        <effector>r1Man</effector>   <!-- last link where end effector is attached-->
+        <effector>RightArmTCP</effector>   <!-- last link where end effector is attached-->
         <base>FrontalWaist</base>           <!-- base link-->
     </Manipulator>
 
     <Manipulator name="trunkAndRightArm">
-        <effector>r1Man</effector>   <!-- last link where end effector is attached-->
+        <effector>RightArmTCP</effector>   <!-- last link where end effector is attached-->
         <base>RootWaist</base>           <!-- base link-->
     </Manipulator>
 
     <Manipulator name="leftArm">
-        <effector>r2Man</effector>   <!-- last link where end effector is attached-->
+        <effector>LeftArmTCP</effector>   <!-- last link where end effector is attached-->
         <base>FrontalWaist</base>           <!-- base link-->
     </Manipulator>
 
     <Manipulator name="trunkAndLeftArm">
-        <effector>r2Man</effector>   <!-- last link where end effector is attached-->
+        <effector>LeftArmTCP</effector>   <!-- last link where end effector is attached-->
         <base>RootWaist</base>           <!-- base link-->
     </Manipulator>
 
     <Manipulator name="rightLeg">
-        <effector>r5Man</effector>   <!-- last link where end effector is attached-->
+        <effector>RightLegTCP</effector>   <!-- last link where end effector is attached-->
         <base>RootWaist</base>           <!-- base link-->
     </Manipulator>
 
     <Manipulator name="leftLeg">
-        <effector>r6Man</effector>   <!-- last link where end effector is attached-->
+        <effector>LeftLegTCP</effector>   <!-- last link where end effector is attached-->
         <base>RootWaist</base>           <!-- base link-->
     </Manipulator>
 
diff --git a/openrave/teo/teo_dextra.robot.xml b/openrave/teo/teo_dextra.robot.xml
index cb878e8..f3888a1 100644
--- a/openrave/teo/teo_dextra.robot.xml
+++ b/openrave/teo/teo_dextra.robot.xml
@@ -7,11 +7,11 @@
 
     <kinbody>
         <body name="FrontalLeftWrist">
-                <offsetfrom>r1Man</offsetfrom>
+                <offsetfrom>RightArmTCP</offsetfrom>
                 <translation>0 0 0.2</translation>
         </body>
         <joint name="TeoToLeftDextra" type="hinge" enable="false">
-            <body>r1Man</body>
+            <body>RightArmTCP</body>
             <body>FrontalLeftWrist</body>
             <limits>0 0</limits>
         </joint>
@@ -22,11 +22,11 @@
 
     <kinbody>
         <body name="FrontalRightWrist">
-                <offsetfrom>r2Man</offsetfrom>
+                <offsetfrom>LeftArmTCP</offsetfrom>
                 <translation>0 0 0.2</translation>
         </body>
         <joint name="TeoToRightDextra" type="hinge" enable="false">
-            <body>r2Man</body>
+            <body>LeftArmTCP</body>
             <body>FrontalRightWrist</body>
             <limits>0 0</limits>
         </joint>
diff --git a/openrave/teo/teo_lacqueyFetch.robot.xml b/openrave/teo/teo_lacqueyFetch.robot.xml
index 1406df2..e41d723 100644
--- a/openrave/teo/teo_lacqueyFetch.robot.xml
+++ b/openrave/teo/teo_lacqueyFetch.robot.xml
@@ -7,11 +7,11 @@
 
     <kinbody>
         <body name="right_FrontalWrist">
-                <offsetfrom>r1Man</offsetfrom>
+                <offsetfrom>RightArmTCP</offsetfrom>
                 <translation>0 0 0.2</translation>
         </body>
         <joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
-            <body>r1Man</body>
+            <body>RightArmTCP</body>
             <body>right_FrontalWrist</body>
             <limits>0 0</limits>
         </joint>
@@ -21,11 +21,11 @@
     </robot>    
     <kinbody>
         <body name="left_FrontalWrist">
-                <offsetfrom>r2Man</offsetfrom>
+                <offsetfrom>LeftArmTCP</offsetfrom>
                 <translation>0 0 0.2</translation>
         </body>
         <joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
-            <body>r2Man</body>
+            <body>LeftArmTCP</body>
             <body>left_FrontalWrist</body>
             <limits>0 0</limits>
         </joint>
diff --git a/openrave/teo/teo_lacqueyFetch_rotated.robot.xml b/openrave/teo/teo_lacqueyFetch_rotated.robot.xml
index a77ea77..bba50ee 100644
--- a/openrave/teo/teo_lacqueyFetch_rotated.robot.xml
+++ b/openrave/teo/teo_lacqueyFetch_rotated.robot.xml
@@ -7,12 +7,12 @@
 
     <kinbody>
         <body name="right_FrontalWrist">
-                <offsetfrom>r1Man</offsetfrom>
+                <offsetfrom>RightArmTCP</offsetfrom>
                 <translation>0 0 0.2</translation>
                 <RotationAxis>0 0 1 90</RotationAxis>
         </body>
         <joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
-            <body>r1Man</body>
+            <body>RightArmTCP</body>
             <body>right_FrontalWrist</body>
             <limits>0 0</limits>
         </joint>
@@ -23,12 +23,12 @@
 
     <kinbody>
         <body name="left_FrontalWrist">
-                <offsetfrom>r2Man</offsetfrom>
+                <offsetfrom>LeftArmTCP</offsetfrom>
                 <translation>0 0 0.2</translation>
                 <RotationAxis>0 0 1 -90</RotationAxis>
         </body>
         <joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
-            <body>r2Man</body>
+            <body>LeftArmTCP</body>
             <body>left_FrontalWrist</body>
             <limits>0 0</limits>
         </joint>
diff --git a/openrave/teo/teo_leftArm.kinbody.xml b/openrave/teo/teo_leftArm.kinbody.xml
index fd32bca..f5f057e 100644
--- a/openrave/teo/teo_leftArm.kinbody.xml
+++ b/openrave/teo/teo_leftArm.kinbody.xml
@@ -144,14 +144,14 @@
 
 	<!-- TCP (effector) -->
 
-            <Body name="r2Man" type="dynamic">
+            <Body name="LeftArmTCP" type="dynamic">
             <offsetfrom>FrontalLeftWrist</offsetfrom>
             <Translation>0 0 -0.2</Translation>
             </Body>
 
-            <Joint name="q2Man" type="hinge" enable="False">
+            <Joint name="LeftArmTCP" type="hinge" enable="False">
             <Body>FrontalLeftWrist</Body>
-            <Body>r2Man</Body>
+            <Body>LeftArmTCP</Body>
             <limitsdeg>0 0</limitsdeg>
             </Joint>
 
diff --git a/openrave/teo/teo_leftLeg.kinbody.xml b/openrave/teo/teo_leftLeg.kinbody.xml
index 0827c4a..ee1c876 100644
--- a/openrave/teo/teo_leftLeg.kinbody.xml
+++ b/openrave/teo/teo_leftLeg.kinbody.xml
@@ -157,14 +157,14 @@
 	</Joint>
 
 
-	<Body name="r6Man" type="dynamic">
+	<Body name="LeftLegTCP" type="dynamic">
 	<offsetfrom>SaggitalLeftAnkle</offsetfrom>
 	<Translation>0 0 -0.123</Translation>
 	</Body>
 
 	<Joint name="q6Man" type="hinge" enable="False">
 	<Body>SaggitalLeftAnkle</Body>
-	<Body>r6Man</Body>
+	<Body>LeftLegTCP</Body>
 	<limitsdeg>0 0</limitsdeg>
 	</Joint>
 
diff --git a/openrave/teo/teo_rightArm.kinbody.xml b/openrave/teo/teo_rightArm.kinbody.xml
index c99b8bc..7aea27b 100644
--- a/openrave/teo/teo_rightArm.kinbody.xml
+++ b/openrave/teo/teo_rightArm.kinbody.xml
@@ -143,14 +143,14 @@
 
 	<!-- TCP (effector) -->
 
-	    <Body name="r1Man" type="dynamic">
+	    <Body name="RightArmTCP" type="dynamic">
 	    <offsetfrom>FrontalRightWrist</offsetfrom>
 	    <Translation>0 0 -0.2</Translation>
 	    </Body>
 
-	    <Joint name="q1Man" type="hinge" enable="False">
+	    <Joint name="RightArmTCP" type="hinge" enable="False">
 	    <Body>FrontalRightWrist</Body>
-	    <Body>r1Man</Body>
+	    <Body>RightArmTCP</Body>
 	    <limitsdeg>0 0</limitsdeg>
 	    </Joint>
 
diff --git a/openrave/teo/teo_rightLeg.kinbody.xml b/openrave/teo/teo_rightLeg.kinbody.xml
index 9b0faff..74dcc7d 100644
--- a/openrave/teo/teo_rightLeg.kinbody.xml
+++ b/openrave/teo/teo_rightLeg.kinbody.xml
@@ -154,14 +154,14 @@
         <resolution>1</resolution>
         </Joint>
 
-        <Body name="r5Man" type="dynamic">
+        <Body name="RightLegTCP" type="dynamic">
         <offsetfrom>SaggitalRightAnkle</offsetfrom>
         <Translation>0 0 -0.123</Translation>
         </Body>
 
         <Joint name="q5Man" type="hinge" enable="False">
         <Body>SaggitalRightAnkle</Body>
-        <Body>r5Man</Body>
+        <Body>RightLegTCP</Body>
         <limitsdeg>0 0</limitsdeg>
         </Joint>
 
