diff --git a/src/gripper_controller/gripper_controller.py b/src/gripper_controller/gripper_controller.py
index 8fd1ef1..7b72a0c 100755
--- a/src/gripper_controller/gripper_controller.py
+++ b/src/gripper_controller/gripper_controller.py
@@ -20,30 +20,20 @@ def __init__(self):
         self.success = True
 
         # server
-        self.srv_safe_joint_change_left = actionlib.SimpleActionServer('left_arm/gripper/action',
-                                                                       GripperCommandAction,
-                                                                       execute_cb=self.gripper_left,
-                                                                       auto_start=False)
-        self.srv_safe_joint_change_right = actionlib.SimpleActionServer('right_arm/gripper/action',
-                                                                        GripperCommandAction,
-                                                                        execute_cb=self.gripper_right,
-                                                                        auto_start=False)
-        self.srv_safe_joint_change_left.start()
-        self.srv_safe_joint_change_right.start()
+        self.srv_safe_joint_change = actionlib.SimpleActionServer('gripper/action',
+                                                                   GripperCommandAction,
+                                                                   execute_cb=self.gripper,
+                                                                   auto_start=False)
+        self.srv_safe_joint_change.start()
 
         # clients
         self.client_safe_joint_change = rospy.ServiceProxy('safe_pose_changer/change_joint', SafeJointChange)
         self._grasp_client = actionlib.SimpleActionClient('gripper_controller/grasp', GripperApplyEffortAction)
 
-    def gripper_left(self, goal):
+    def gripper(self, goal):
         self.success = self.safe_joint_change_srv(goal)
         if self.success:
-            self.srv_safe_joint_change_left.set_succeeded()
-
-    def gripper_right(self, goal):
-        self.success = self.safe_joint_change_srv(goal)
-        if self.success:
-            self.srv_safe_joint_change_right.set_succeeded()
+            self.srv_safe_joint_change.set_succeeded()
 
     def safe_joint_change_srv(self, goal):
         """
diff --git a/src/handover_node/handover_detection.py b/src/handover_node/handover_detection.py
index 7b77d96..151065a 100755
--- a/src/handover_node/handover_detection.py
+++ b/src/handover_node/handover_detection.py
@@ -22,13 +22,13 @@ def __init__(self, side):
         self.force_z = 0
 
         # server
-        self.sub_r2h = rospy.Subscriber("handoverdetector_" + side + "/toggle_robot2human",
+        self.sub_r2h = rospy.Subscriber("handover_detector/toggle_robot2human",
                                         Bool, self.detect_handover)
-        self.sub_h2r = rospy.Subscriber("handoverdetector_" + side + "/toggle_human2robot",
+        self.sub_h2r = rospy.Subscriber("handover_detector/toggle_human2robot",
                                         Bool, self.detect_handover)
         self.sub_wrist_wrench = rospy.Subscriber("wrist_wrench/raw", WrenchStamped, self.update_forces)
 
-        self.pub_result = rospy.Publisher("handoverdetector_" + side + "/result", Bool, queue_size=1)
+        self.pub_result = rospy.Publisher("handover_detector/result", Bool, queue_size=1)
 
     def detect_handover(self, data):
         if data.data:
diff --git a/src/plan_node/manipulation_bridge.py b/src/plan_node/manipulation_bridge.py
index 9baf5fc..79658db 100755
--- a/src/plan_node/manipulation_bridge.py
+++ b/src/plan_node/manipulation_bridge.py
@@ -26,28 +26,17 @@ def __init__(self):
         self.whole_body = self.robot.try_get('whole_body')
 
         # server
-        self.srv_manipulation_left = actionlib.SimpleActionServer('left_arm/grasp_precompute',
+        self.srv_manipulation = actionlib.SimpleActionServer('arm_center/grasp_precompute',
                                                                   GraspPrecomputeAction,
-                                                                  execute_cb=self.manipulation_srv_left,
+                                                                  execute_cb=self.manipulation_srv_inst,
                                                                   auto_start=False)
-        self.srv_manipulation_right = actionlib.SimpleActionServer('right_arm/grasp_precompute',
-                                                                   GraspPrecomputeAction,
-                                                                   execute_cb=self.manipulation_srv_right,
-                                                                   auto_start=False)
-        self.srv_manipulation_left.start()
-        self.srv_manipulation_right.start()
-
-    def manipulation_srv_left(self, action):
-        success = self.manipulation_srv(action)
-        if success:
-            rospy.loginfo('Manipulation bridge: Succeeded')
-            self.srv_manipulation_left.set_succeeded()
+        self.srv_manipulation.start()
 
-    def manipulation_srv_right(self, action):
+    def manipulation_srv_inst(self, action):
         success = self.manipulation_srv(action)
         if success:
             rospy.loginfo('Manipulation bridge: Succeeded')
-            self.srv_manipulation_right.set_succeeded()
+            self.srv_manipulation.set_succeeded()
 
     def manipulation_srv(self, action):
         """
diff --git a/src/tf_ghost/tf_ghost.py b/src/tf_ghost/tf_ghost.py
index c3c70b4..6404e19 100755
--- a/src/tf_ghost/tf_ghost.py
+++ b/src/tf_ghost/tf_ghost.py
@@ -19,10 +19,6 @@ def create_ghosts(self):
         self.remap_frame("head_rgbd_sensor_gazebo_frame", "top_kinect/openni_camera")
         self.remap_frame("base_range_sensor_link", self.prefix + "/base_laser")
 
-        self.sendTransform((0, 0, 0), tf_conversions.transformations.quaternion_from_euler(pi, -pi/2, 0),
-                           rospy.Time.now(), self.prefix + "/grippoint_left", "hand_palm_link")
-        self.sendTransform((0, 0, 0), tf_conversions.transformations.quaternion_from_euler(pi, -pi/2, 0),
-                           rospy.Time.now(), self.prefix + "/grippoint_right", "hand_palm_link")
         self.sendTransform((0, 0, 0), tf_conversions.transformations.quaternion_from_euler(pi, -pi/2, 0),
                            rospy.Time.now(), "head_mount", "torso_lift_link")