diff --git a/src/external_dependencies/picknik_accessories b/src/external_dependencies/picknik_accessories
index d8b1cd3d..67e2bc4c 160000
--- a/src/external_dependencies/picknik_accessories
+++ b/src/external_dependencies/picknik_accessories
@@ -1 +1 @@
-Subproject commit d8b1cd3d6ad53dc2c90c351cc66766a3555519ec
+Subproject commit 67e2bc4cfeaa3be2d6648b9a427e1cb840dbb6f8
diff --git a/src/picknik_ur_base_config/config/config.yaml b/src/picknik_ur_base_config/config/config.yaml
index fb455508..bdab0e85 100644
--- a/src/picknik_ur_base_config/config/config.yaml
+++ b/src/picknik_ur_base_config/config/config.yaml
@@ -166,10 +166,9 @@ moveit_params:
 # Additional configurable parameters for the MoveIt Studio user interface.
 # [Required]
 ui_params:
-  # By default, MoveIt Studio uses a frame called "manual_grasp_link" for tool grasp pose rendering
-  # and planning.
+  # By default, we use a frame named "grasp_link" for tool grasp pose rendering and planning.
   # [Required]
-  servo_endpoint_frame_id: "manual_grasp_link"
+  servo_endpoint_frame_id: "grasp_link"
 
 # Configuration for launching ros2_control processes.
 # [Required, if using ros2_control]
diff --git a/src/picknik_ur_base_config/config/moveit/picknik_ur.srdf b/src/picknik_ur_base_config/config/moveit/picknik_ur.srdf
index cf09afb1..26a50461 100644
--- a/src/picknik_ur_base_config/config/moveit/picknik_ur.srdf
+++ b/src/picknik_ur_base_config/config/moveit/picknik_ur.srdf
@@ -10,7 +10,7 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="manipulator">
-        <chain base_link="base_link" tip_link="manual_grasp_link"/>
+        <chain base_link="base_link" tip_link="grasp_link"/>
     </group>
     <group name="gripper">
         <link name="robotiq_85_base_link"/>
diff --git a/src/picknik_ur_base_config/description/gripper_and_camera.xacro b/src/picknik_ur_base_config/description/gripper_and_camera.xacro
index 39289ab9..e951d2cd 100644
--- a/src/picknik_ur_base_config/description/gripper_and_camera.xacro
+++ b/src/picknik_ur_base_config/description/gripper_and_camera.xacro
@@ -8,14 +8,13 @@
   <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro"/>
 
   <!-- Create base link -->
-  <!-- Moveit Studio requires a link name called manual_grasp_link to perform built-in Objectives such as inspect surface without modification. -->
-  <link name="manual_grasp_link" />
-
+  <!-- We use a link name called grasp_link to perform built-in Objectives such as inspect surface without modification. -->
+  <link name="grasp_link"/>
   <link name="tool0" />
   <joint name="flange-tool0" type="fixed">
-    <parent link="manual_grasp_link" />
+    <parent link="grasp_link" />
     <child link="tool0" />
-    <origin xyz="0.0 -0.016124 -0.18430" rpy="${pi / 180.0 * 5} 0 -${pi}" />
+    <origin xyz="0 -0.016124 -0.18430" rpy="0 0 -${pi}" />
   </joint>
 
   <link name="tool_changer_tool0" />
diff --git a/src/picknik_ur_base_config/description/picknik_ur.xacro b/src/picknik_ur_base_config/description/picknik_ur.xacro
index 471a9f35..930f21ea 100644
--- a/src/picknik_ur_base_config/description/picknik_ur.xacro
+++ b/src/picknik_ur_base_config/description/picknik_ur.xacro
@@ -91,6 +91,7 @@
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:robotiq_gripper>
 
+  <!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->
   <link name="grasp_link" />
   <joint name="grasp_link_joint" type="fixed">
     <parent link="gripper_mount_link" />
@@ -98,14 +99,6 @@
     <origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" />
   </joint>
 
-  <!-- Moveit Studio requires a link name called manual_grasp_link to perform quick tasks such as inspect surface -->
-  <link name="manual_grasp_link" />
-  <joint name="manual_grasp_joint" type="fixed">
-    <parent link="grasp_link" />
-    <child link="manual_grasp_link" />
-    <origin xyz="0 0 0" rpy="${pi / 180.0 * 5} 0 0" />
-  </joint>
-
   <!-- Environment -->
   <link name="environment">
     <visual>
diff --git a/src/picknik_ur_base_config/description/robotiq_2f_85_gripper.urdf b/src/picknik_ur_base_config/description/robotiq_2f_85_gripper.urdf
index 9db700b7..659cf2cc 100644
--- a/src/picknik_ur_base_config/description/robotiq_2f_85_gripper.urdf
+++ b/src/picknik_ur_base_config/description/robotiq_2f_85_gripper.urdf
@@ -11,13 +11,13 @@
     <color rgba="0.1 0.1 0.1 1"/>
   </material>
   <!-- Create base link -->
-  <!-- Moveit Studio requires a link name called manual_grasp_link to perform quick tasks such as inspect surface -->
-  <link name="manual_grasp_link"/>
+  <!-- We use a link name called grasp_link to perform quick tasks such as inspect surface -->
+  <link name="grasp_link"/>
   <link name="tool0"/>
   <joint name="flange-tool0" type="fixed">
-    <parent link="manual_grasp_link"/>
+    <parent link="grasp_link"/>
     <child link="tool0"/>
-    <origin rpy="0.08726646259971647 0 -3.141592653589793" xyz="0.0 -0.016124 -0.18430"/>
+    <origin rpy="0 0 -3.141592653589793" xyz="0.0 -0.016124 -0.18430"/>
   </joint>
   <link name="tool_changer_tool0"/>
   <joint name="tool_side_joint" type="fixed">
diff --git a/src/picknik_ur_base_config/objectives/move_to_pose.xml b/src/picknik_ur_base_config/objectives/move_to_pose.xml
index c196b046..956d85d2 100644
--- a/src/picknik_ur_base_config/objectives/move_to_pose.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_pose.xml
@@ -5,7 +5,7 @@
             <Action ID="RetrievePoseParameter" timeout_sec="" pose="{target_pose}"/>
             <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
             <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
-            <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
+            <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
             <Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
             <SubTree ID="Wait for Trajectory Approval if User Available" solution="{move_to_pose_solution}"/>
             <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
diff --git a/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf.xacro b/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf.xacro
index 04c99a37..b4bd8e4e 100644
--- a/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf.xacro
+++ b/src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf.xacro
@@ -13,7 +13,7 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="manipulator">
-        <chain base_link="base_link" tip_link="manual_grasp_link"/>
+        <chain base_link="base_link" tip_link="grasp_link"/>
     </group>
     <group name="gripper">
         <link name="$(arg gripper_name)_base_link"/>
diff --git a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
index fcf24367..a1be99d9 100644
--- a/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
+++ b/src/picknik_ur_gazebo_config/description/picknik_ur_gazebo.xacro
@@ -70,14 +70,6 @@
     <origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" />
   </joint>
 
-  <!-- Moveit Studio requires a link name called manual_grasp_link to perform quick tasks such as inspect surface -->
-  <link name="manual_grasp_link" />
-  <joint name="manual_grasp_joint" type="fixed">
-    <parent link="grasp_link" />
-    <child link="manual_grasp_link" />
-    <origin xyz="0 0 0" rpy="${pi / 180.0 * 5} 0 0" />
-  </joint>
-
   <!-- Environment -->
   <link name="environment">
     <!-- Table -->
diff --git a/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml b/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
index 78346cc6..f3396e89 100644
--- a/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
+++ b/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
@@ -10,9 +10,9 @@
                 <Action ID="InitializeMTCTask" task_id="close_cabinet_door" controller_names="/joint_trajectory_controller" task="{close_cabinet_door_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{close_cabinet_door_task}"/>
                 <Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
-                <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="grasp_link" axis_frame="grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
                 <Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
@@ -20,7 +20,7 @@
                 <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}"/>
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
-                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="manual_grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
+                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>
             </Control>
diff --git a/src/picknik_ur_gazebo_config/objectives/looping_pick_and_place_object_config.yaml b/src/picknik_ur_gazebo_config/objectives/looping_pick_and_place_object_config.yaml
index 622ad079..78ec7340 100644
--- a/src/picknik_ur_gazebo_config/objectives/looping_pick_and_place_object_config.yaml
+++ b/src/picknik_ur_gazebo_config/objectives/looping_pick_and_place_object_config.yaml
@@ -27,7 +27,7 @@ SetupMTCApproachGrasp:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
 
   approach_distance: 0.15
 
@@ -41,9 +41,9 @@ SetupMTCApproachGrasp:
 SetupMTCGenerateCuboidGrasps:
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
-  ui_grasp_link: "manual_grasp_link"
+  ui_grasp_link: "grasp_link"
 
   # Grasp candidate configs
   grasp_candidate_config:
@@ -85,7 +85,7 @@ SetupMTCRetractFromGrasp:
   world_frame_name: "world"
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
 
   # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
diff --git a/src/picknik_ur_gazebo_config/objectives/pick_place_object_config.yaml b/src/picknik_ur_gazebo_config/objectives/pick_place_object_config.yaml
index 2ba5103f..02bfc860 100644
--- a/src/picknik_ur_gazebo_config/objectives/pick_place_object_config.yaml
+++ b/src/picknik_ur_gazebo_config/objectives/pick_place_object_config.yaml
@@ -27,7 +27,7 @@ SetupMTCApproachGrasp:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
 
   approach_distance: 0.15
 
@@ -41,9 +41,9 @@ SetupMTCApproachGrasp:
 SetupMTCGenerateCuboidGrasps:
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
-  ui_grasp_link: "manual_grasp_link"
+  ui_grasp_link: "grasp_link"
 
   # Grasp candidate configs
   grasp_candidate_config:
@@ -85,7 +85,7 @@ SetupMTCRetractFromGrasp:
   world_frame_name: "world"
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
 
   # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
diff --git a/src/picknik_ur_gazebo_config/objectives/push_button.xml b/src/picknik_ur_gazebo_config/objectives/push_button.xml
index e0c554d8..9fc40687 100644
--- a/src/picknik_ur_gazebo_config/objectives/push_button.xml
+++ b/src/picknik_ur_gazebo_config/objectives/push_button.xml
@@ -10,9 +10,9 @@
                 <Action ID="InitializeMTCTask" task_id="push_button" controller_names="/joint_trajectory_controller" task="{push_button_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{push_button_task}"/>
                 <Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
-                <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="grasp_link" axis_frame="grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
                 <Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
@@ -20,7 +20,7 @@
                 <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}"/>
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
-                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="manual_grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
+                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>
             </Control>
diff --git a/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml b/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
index ae56060f..5d1bdc5a 100644
--- a/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
+++ b/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
@@ -37,13 +37,13 @@
                 <Action ID="InitializeMTCTask" task_id="push_button_ml" controller_names="/joint_trajectory_controller"
                     task="{push_along_axis_task}" />
                 <Action ID="SetupMTCCurrentState" task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link"
+                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link"
                     planning_group_name="manipulator" target_pose="{button_pose}"
                     task="{push_along_axis_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="grasp_link" axis_frame="grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="ForbidGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
@@ -57,7 +57,7 @@
                 <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}" />
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
-                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="manual_grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
+                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>
             </Control>
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
index c2951e6f..764b4e7f 100644
--- a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
+++ b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
@@ -26,7 +26,7 @@
     <Control ID="Sequence">
       <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
-      <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" use_all_planners="false" task="{move_to_pose_task}"/>
+      <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" use_all_planners="false" task="{move_to_pose_task}"/>
       <Action ID="PlanMTCTask" task="{move_to_pose_task}" solution="{move_to_pose_solution}"/>
       <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}"/>
     </Control>
diff --git a/src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf b/src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf
index bee26284..55dce08a 100644
--- a/src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf
+++ b/src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf
@@ -10,7 +10,7 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="manipulator">
-        <chain base_link="base_link" tip_link="manual_grasp_link"/>
+        <chain base_link="base_link" tip_link="grasp_link"/>
     </group>
     <group name="gripper">
         <link name="robotiq_85_base_link"/>
diff --git a/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro b/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
index 760c4e70..5da8c87f 100644
--- a/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
+++ b/src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
@@ -87,14 +87,6 @@
     <origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" />
   </joint>
 
-  <!-- Moveit Studio requires a link name called manual_grasp_link to perform quick tasks such as inspect surface -->
-  <link name="manual_grasp_link" />
-  <joint name="manual_grasp_joint" type="fixed">
-    <parent link="grasp_link" />
-    <child link="manual_grasp_link" />
-    <origin xyz="0 0 0" rpy="${pi / 180.0 * 5} 0 0" />
-  </joint>
-
   <!-- CNC machine -->
   <link name="cnc_machine">
     <visual>
diff --git a/src/picknik_ur_mock_hw_config/objectives/my_constraints.yaml b/src/picknik_ur_mock_hw_config/objectives/my_constraints.yaml
index 15f8813e..0183b3b3 100644
--- a/src/picknik_ur_mock_hw_config/objectives/my_constraints.yaml
+++ b/src/picknik_ur_mock_hw_config/objectives/my_constraints.yaml
@@ -1,6 +1,6 @@
 AppendOrientationConstraint:
   constraint_frame: "world"
-  link_frame: "manual_grasp_link"
+  link_frame: "grasp_link"
   orientation:  # radians
     x: -3.14
     y: 0.0
diff --git a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
index 85f45607..bdbce8b8 100644
--- a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
+++ b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
@@ -10,9 +10,9 @@
                 <Action ID="InitializeMTCTask" task_id="close_cabinet_door" controller_names="/joint_trajectory_controller" task="{close_cabinet_door_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{close_cabinet_door_task}"/>
                 <Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
-                <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" task="{close_cabinet_door_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />                
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{close_cabinet_door_task}" hand_frame="grasp_link" axis_frame="grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />                
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
                 <Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
@@ -20,7 +20,7 @@
                 <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}"/>
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
-                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="manual_grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="20" force_threshold="30.0"/>
+                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="20" force_threshold="30.0"/>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>
             </Control>
diff --git a/src/picknik_ur_site_config/objectives/inspect_surface.xml b/src/picknik_ur_site_config/objectives/inspect_surface.xml
index 24b0479a..7ccf86e0 100644
--- a/src/picknik_ur_site_config/objectives/inspect_surface.xml
+++ b/src/picknik_ur_site_config/objectives/inspect_surface.xml
@@ -5,7 +5,7 @@
             <Action ID="InitializeMTCTask" task_id="inspect_surface" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
             <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
             <Action ID="GetPoseFromUser" parameter_name="inspect_surface.target_pose" parameter_value="{target_pose}" />
-            <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
+            <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
             <Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
             <SubTree ID="Wait for Trajectory Approval if User Available" solution="{move_to_pose_solution}"/>
             <Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
diff --git a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object_config.yaml b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object_config.yaml
index bb528eb3..233ad54c 100644
--- a/src/picknik_ur_site_config/objectives/looping_pick_and_place_object_config.yaml
+++ b/src/picknik_ur_site_config/objectives/looping_pick_and_place_object_config.yaml
@@ -28,7 +28,7 @@ SetupMTCApproachGrasp:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
 
   approach_distance: 0.15
 
@@ -43,9 +43,9 @@ SetupMTCApproachGrasp:
 SetupMTCGenerateCuboidGrasps:
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
-  ui_grasp_link: "manual_grasp_link"
+  ui_grasp_link: "grasp_link"
 
   # Grasp candidate configs
   grasp_candidate_config:
@@ -87,7 +87,7 @@ SetupMTCRetractFromGrasp:
   world_frame_name: "world"
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
 
   # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
diff --git a/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance_config.yaml b/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance_config.yaml
index c34c8ee8..26656ba7 100644
--- a/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance_config.yaml
+++ b/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance_config.yaml
@@ -2,7 +2,7 @@ SetupMTCOpenDoorAffordance:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  ik_frame_name: "manual_grasp_link"
+  ik_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
   end_effector_open_pose_name: "open"
 
diff --git a/src/picknik_ur_site_config/objectives/pick_object_config.yaml b/src/picknik_ur_site_config/objectives/pick_object_config.yaml
index 26710654..09ca7d6e 100644
--- a/src/picknik_ur_site_config/objectives/pick_object_config.yaml
+++ b/src/picknik_ur_site_config/objectives/pick_object_config.yaml
@@ -4,7 +4,7 @@ SetupMTCPickObject:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
 
   approach_distance: 0.1
diff --git a/src/picknik_ur_site_config/objectives/pick_place_object_config.yaml b/src/picknik_ur_site_config/objectives/pick_place_object_config.yaml
index 20ab55fd..6ef7adb0 100644
--- a/src/picknik_ur_site_config/objectives/pick_place_object_config.yaml
+++ b/src/picknik_ur_site_config/objectives/pick_place_object_config.yaml
@@ -27,9 +27,9 @@ SetupMTCApproachGrasp:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
-  ui_grasp_link: "manual_grasp_link"
+  ui_grasp_link: "grasp_link"
 
   approach_distance: 0.15
 
@@ -52,9 +52,9 @@ SetupMTCApproachGrasp:
 SetupMTCGenerateCuboidGrasps:
   end_effector_group_name: "gripper"
   end_effector_name: "moveit_ee"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
-  ui_grasp_link: "manual_grasp_link"
+  ui_grasp_link: "grasp_link"
 
   # Grasp data configs
   grasp_data:
@@ -87,7 +87,7 @@ SetupMTCRetractFromGrasp:
   world_frame_name: "world"
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
-  hand_frame_name: "manual_grasp_link"
+  hand_frame_name: "grasp_link"
   end_effector_closed_pose_name: "close"
 
   # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame.
diff --git a/src/picknik_ur_site_config/objectives/push_button.xml b/src/picknik_ur_site_config/objectives/push_button.xml
index 99832677..971a2912 100644
--- a/src/picknik_ur_site_config/objectives/push_button.xml
+++ b/src/picknik_ur_site_config/objectives/push_button.xml
@@ -10,9 +10,9 @@
                 <Action ID="InitializeMTCTask" task_id="push_button" controller_names="/joint_trajectory_controller" task="{push_button_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{push_button_task}"/>
                 <Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
-                <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
+                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="grasp_link" axis_frame="grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
                 <Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
@@ -20,7 +20,7 @@
                 <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}"/>
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
-                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="manual_grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="20" force_threshold="30.0"/>
+                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="20" force_threshold="30.0"/>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>
             </Control>
diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
index 082621f4..1af044dd 100644
--- a/src/picknik_ur_site_config/objectives/push_button_ml.xml
+++ b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -37,13 +37,13 @@
                 <Action ID="InitializeMTCTask" task_id="push_button_ml" controller_names="/joint_trajectory_controller"
                     task="{push_along_axis_task}" />
                 <Action ID="SetupMTCCurrentState" task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link"
+                <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link"
                     planning_group_name="manipulator" target_pose="{button_pose}"
                     task="{push_along_axis_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="grasp_link" axis_frame="grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="ForbidGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
@@ -57,7 +57,7 @@
                 <Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}" />
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
-                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="manual_grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="20" force_threshold="30.0"/>
+                    <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="20" force_threshold="30.0"/>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>
             </Control>