diff --git a/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro
index 8867003..a948daa 100644
--- a/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro
+++ b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro
@@ -6,11 +6,11 @@
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--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="${prefix}kr_arm">
+    <group name="${prefix}manipulator">
       <chain base_link="${prefix}base_link" tip_link="${prefix}tool0" />
     </group>
     <!--Add tool0 as end effector to be able to use moveit_visual_tools for visualising end effector path-->
-    <group name="${prefix}end_effector">
+    <group name="end_effector">
       <link name="${prefix}tool0"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro
index c61a89c..f6b2578 100644
--- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro
+++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro
@@ -6,12 +6,12 @@
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--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="lbr_iisy_arm">
-      <chain base_link="${prefix}base_link" tip_link="${prefix}flange" />
+    <group name="${prefix}manipulator">
+      <chain base_link="${prefix}base_link" tip_link="${prefix}tool0" />
     </group>
-    <!--Add flange as end effector to be able to use moveit_visual_tools for visualising end effector path-->
+    <!--Add tool0 as end effector to be able to use moveit_visual_tools for visualising end effector path-->
     <group name="end_effector">
-      <link name="${prefix}flange"/>
+      <link name="${prefix}tool0"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="null_pos" group="lbr_iisy_arm">
diff --git a/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro
index b595972..4ed9db9 100644
--- a/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro
+++ b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro
@@ -6,12 +6,12 @@
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="lbr_iiwa_arm">
-      <chain base_link="${prefix}base_link" tip_link="${prefix}flange" />
+    <group name="${prefix}manipulator">
+      <chain base_link="${prefix}base_link" tip_link="${prefix}tool0" />
     </group>
-    <!--Add flange as end effector to be able to use moveit_visual_tools for visualising end effector path-->
+    <!--Add tool0 as end effector to be able to use moveit_visual_tools for visualising end effector path-->
     <group name="end_effector">
-      <link name="${prefix}flange"/>
+      <link name="${prefix}tool0"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="extended" group="lbr_iiwa_arm">