diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
index 301d6dc83..9199d5814 100644
--- a/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
+++ b/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
@@ -4,8 +4,8 @@
   <BehaviorTree ID="Move To and Detect Tag -45" _description="">
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
         orientation_xyzw="0.92388;0;-0.382683;0"
         position_xyz="0.5;0.0;0.6"
@@ -13,7 +13,7 @@
       <Action ID="ResetPoseStampedVector" vector="{pose_stamped_vector}" />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Control ID="Fallback">
@@ -83,20 +83,20 @@
         pose="{detection_pose}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="grasp_link"
       />
       <Action
         ID="CalculatePoseOffset"
         destination_pose="{detection_pose}"
-        source_pose="{stamped_pose}"
+        source_pose="{pose_stamped}"
         source_to_destination_pose="{pose_diff}"
       />
       <Action ID="Script" code="dir_path := '45degree_runs/'" />
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
index 1ff216cb8..567be49c3 100644
--- a/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
+++ b/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
@@ -4,8 +4,8 @@
   <BehaviorTree ID="Move To and Detect Tag 0" _description="">
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
         orientation_xyzw="1;0;0;0"
         position_xyz="0.;0.0;0.6"
@@ -13,7 +13,7 @@
       <Action ID="ResetPoseStampedVector" vector="{pose_stamped_vector}" />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Control ID="Fallback">
@@ -83,20 +83,20 @@
         pose="{detection_pose}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="grasp_link"
       />
       <Action
         ID="CalculatePoseOffset"
         destination_pose="{detection_pose}"
-        source_pose="{stamped_pose}"
+        source_pose="{pose_stamped}"
         source_to_destination_pose="{pose_diff}"
       />
       <Action ID="Script" code="dir_path := '0degree_runs/'" />
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
index 30f331b1a..8db0be940 100644
--- a/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
+++ b/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
@@ -4,8 +4,8 @@
   <BehaviorTree ID="Move To and Detect Tag 45" _description="">
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
         orientation_xyzw="0.92388;0;0.382683;0"
         position_xyz="-0.6;0.0;0.6"
@@ -13,7 +13,7 @@
       <Action ID="ResetPoseStampedVector" vector="{pose_stamped_vector}" />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Control ID="Fallback">
@@ -83,20 +83,20 @@
         pose="{detection_pose}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="grasp_link"
       />
       <Action
         ID="CalculatePoseOffset"
         destination_pose="{detection_pose}"
-        source_pose="{stamped_pose}"
+        source_pose="{pose_stamped}"
         source_to_destination_pose="{pose_diff}"
       />
       <Action ID="Script" code="dir_path := '45degree_runs/'" />
diff --git a/src/dual_arm_sim/objectives/draw.xml b/src/dual_arm_sim/objectives/draw.xml
index 4f727c92b..86f227514 100644
--- a/src/dual_arm_sim/objectives/draw.xml
+++ b/src/dual_arm_sim/objectives/draw.xml
@@ -67,7 +67,7 @@
         <Metadata runnable="false" />
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>
-      <inout_port name="center" default="{stamped_pose}" />
+      <inout_port name="center" default="{pose_stamped}" />
       <inout_port name="controller_name" default="{controller_names}" />
       <inout_port
         name="execute_follow_joint_trajectory_action_name"
diff --git a/src/dual_arm_sim/objectives/writing_demo.xml b/src/dual_arm_sim/objectives/writing_demo.xml
index 2bb056495..39381ca5a 100644
--- a/src/dual_arm_sim/objectives/writing_demo.xml
+++ b/src/dual_arm_sim/objectives/writing_demo.xml
@@ -16,9 +16,9 @@
         waypoint_name="Home"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="-0.7073883;0.7068252;0.0000327;0.0000328"
         position_xyz="0.4;0.0;0.02"
         name="Create center pose"
@@ -28,7 +28,7 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Decorator ID="Repeat" num_cycles="-1">
         <Control ID="Sequence" name="TopLevelSequence">
@@ -36,19 +36,19 @@
             ID="Draw and Wipe"
             _collapsed="false"
             file_path="moveit_pro.yaml"
-            center="{stamped_pose}"
+            center="{pose_stamped}"
           />
           <SubTree
             ID="Draw and Wipe"
             _collapsed="true"
             file_path="loves.yaml"
-            center="{stamped_pose}"
+            center="{pose_stamped}"
           />
           <SubTree
             ID="Draw and Wipe"
             _collapsed="true"
             file_path="franka.yaml"
-            center="{stamped_pose}"
+            center="{pose_stamped}"
           />
         </Control>
       </Decorator>
diff --git a/src/factory_sim/objectives/add_bins_to_planning_scene.xml b/src/factory_sim/objectives/add_bins_to_planning_scene.xml
index 3c3f99a23..c6f055c6b 100644
--- a/src/factory_sim/objectives/add_bins_to_planning_scene.xml
+++ b/src/factory_sim/objectives/add_bins_to_planning_scene.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{world_frame}"
+        pose_stamped="{world_frame}"
         name="world frame"
       />
       <Action
diff --git a/src/factory_sim/objectives/drop_bracket_part_in_right_bin_subtree.xml b/src/factory_sim/objectives/drop_bracket_part_in_right_bin_subtree.xml
index cc6872bad..561240724 100644
--- a/src/factory_sim/objectives/drop_bracket_part_in_right_bin_subtree.xml
+++ b/src/factory_sim/objectives/drop_bracket_part_in_right_bin_subtree.xml
@@ -11,9 +11,9 @@
     <Control ID="Sequence" name="Move to the right bin to drop">
       <!--The drop pose is at a 5 degree tilt so it doesn't drop straight into the bin or on top of another part. Simulator instabilities can cause parts to jump when dropped perfectly flat.-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{drop_pose}"
+        pose_stamped="{drop_pose}"
         orientation_xyzw="-0.706; -0.706; -0.031; -0.031"
         position_xyz="0.23;0.54;0.65"
       />
diff --git a/src/factory_sim/objectives/drop_bracket_part_on_jig_subtree.xml b/src/factory_sim/objectives/drop_bracket_part_on_jig_subtree.xml
index 4a59f9cee..3561f0f3e 100644
--- a/src/factory_sim/objectives/drop_bracket_part_on_jig_subtree.xml
+++ b/src/factory_sim/objectives/drop_bracket_part_on_jig_subtree.xml
@@ -11,9 +11,9 @@
     >
       <!--The drop pose is just above two tapered posts representing a tooling jib that match alignment holes in the bracket part. The part is then released and settles onto those jig posts.-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="jig_post1"
-        stamped_pose="{drop_pose}"
+        pose_stamped="{drop_pose}"
         orientation_xyzw="1.000; 0.000; 0.000; 0.000"
         position_xyz="0.012;-0.01;0.16"
       />
diff --git a/src/factory_sim/objectives/indicate_jig_empty.xml b/src/factory_sim/objectives/indicate_jig_empty.xml
index ed6cf742c..ce6975708 100644
--- a/src/factory_sim/objectives/indicate_jig_empty.xml
+++ b/src/factory_sim/objectives/indicate_jig_empty.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{signal_light_pose}"
+        pose_stamped="{signal_light_pose}"
         position_xyz="-0.1;-1;0.2"
         name="Locate bracket jig state indicator"
       />
@@ -21,10 +21,10 @@
         name="Indicate there is no bracket in jig"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
         position_xyz="-0.1;-1;0.6"
-        stamped_pose="{jig_state_pose}"
+        pose_stamped="{jig_state_pose}"
       />
       <Action
         ID="VisualizePose"
diff --git a/src/factory_sim/objectives/indicate_jig_working.xml b/src/factory_sim/objectives/indicate_jig_working.xml
index e67fd4b0c..f2771065c 100644
--- a/src/factory_sim/objectives/indicate_jig_working.xml
+++ b/src/factory_sim/objectives/indicate_jig_working.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{signal_light_pose}"
+        pose_stamped="{signal_light_pose}"
         position_xyz="-0.1;-1;0.2"
         name="Locate bracket jig state indicator"
       />
@@ -21,10 +21,10 @@
         name="Indicate there is no bracket in jig"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
         position_xyz="-0.1;-1;0.6"
-        stamped_pose="{jig_state_pose}"
+        pose_stamped="{jig_state_pose}"
       />
       <Action
         ID="VisualizePose"
diff --git a/src/factory_sim/objectives/indicate_part_ready.xml b/src/factory_sim/objectives/indicate_part_ready.xml
index bcb964e60..eec415cee 100644
--- a/src/factory_sim/objectives/indicate_part_ready.xml
+++ b/src/factory_sim/objectives/indicate_part_ready.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{signal_light_pose}"
+        pose_stamped="{signal_light_pose}"
         position_xyz="-0.1;-1;0.2"
         name="Locate bracket jig state indicator"
       />
@@ -21,10 +21,10 @@
         name="Indicate there is no bracket in jig"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
         position_xyz="-0.1;-1;0.6"
-        stamped_pose="{jig_state_pose}"
+        pose_stamped="{jig_state_pose}"
       />
       <Action
         ID="VisualizePose"
diff --git a/src/factory_sim/objectives/look_for_bracket_part_subtree.xml b/src/factory_sim/objectives/look_for_bracket_part_subtree.xml
index 7c734c647..b181e7d2f 100644
--- a/src/factory_sim/objectives/look_for_bracket_part_subtree.xml
+++ b/src/factory_sim/objectives/look_for_bracket_part_subtree.xml
@@ -11,11 +11,11 @@
     >
       <!--Get the bracket pointcloud from the CAD file and make a guess as to where it might be-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         position_xyz="-0.35;0.8;0.4"
         orientation_xyzw="0.000;0.000;0.0;1"
         name="Initial guess for bracket pose, somewhere above left bin"
-        stamped_pose="{guess_pose}"
+        pose_stamped="{guess_pose}"
         reference_frame="world"
       />
       <SubTree
@@ -60,9 +60,9 @@
         name="Crop out points belonging to the bin by making a box that approximates the bin internal volume"
       >
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="world"
-          stamped_pose="{centroid_pose}"
+          pose_stamped="{centroid_pose}"
           position_xyz="-0.25;0.6;0.4"
         />
         <Action
diff --git a/src/factory_sim/objectives/pick_bracket_part_from_jig_subtree.xml b/src/factory_sim/objectives/pick_bracket_part_from_jig_subtree.xml
index fa22c49b6..2c92e8c54 100644
--- a/src/factory_sim/objectives/pick_bracket_part_from_jig_subtree.xml
+++ b/src/factory_sim/objectives/pick_bracket_part_from_jig_subtree.xml
@@ -27,9 +27,9 @@
         />
         <SubTree ID="Activate Vacuum" _collapsed="true" />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="world"
-          stamped_pose="{bracket_on_jig}"
+          pose_stamped="{bracket_on_jig}"
           orientation_xyzw="0.000; 0.000; 1.000; 0.000"
           position_xyz="-0.319; -0.483; 0.225"
         />
diff --git a/src/factory_sim/objectives/pick_brackets_from_left_bin.xml b/src/factory_sim/objectives/pick_brackets_from_left_bin.xml
index ac7705cfe..994c2b835 100644
--- a/src/factory_sim/objectives/pick_brackets_from_left_bin.xml
+++ b/src/factory_sim/objectives/pick_brackets_from_left_bin.xml
@@ -39,11 +39,11 @@
             <!--Get the bracket pointcloud from the CAD file and make a guess as to where it might be-->
             <Action ID="ClearSnapshot" />
             <Action
-              ID="CreateStampedPose"
+              ID="CreatePoseStamped"
               position_xyz="-0.35;0.8;0.4"
               orientation_xyzw="0.000;0.000;0.0;1"
               name="Initial guess for bracket pose, somewhere above left bin"
-              stamped_pose="{guess_pose}"
+              pose_stamped="{guess_pose}"
               reference_frame="world"
             />
             <SubTree
@@ -87,9 +87,9 @@
               name="Crop out points belonging to the bin by making a box that approximates the bin internal volume"
             >
               <Action
-                ID="CreateStampedPose"
+                ID="CreatePoseStamped"
                 reference_frame="world"
-                stamped_pose="{centroid_pose}"
+                pose_stamped="{centroid_pose}"
                 position_xyz="-0.25;0.6;0.4"
               />
               <Action
diff --git a/src/factory_sim/objectives/pick_up_tool_from_holder.xml b/src/factory_sim/objectives/pick_up_tool_from_holder.xml
index dbe2b9b65..2c78b685b 100644
--- a/src/factory_sim/objectives/pick_up_tool_from_holder.xml
+++ b/src/factory_sim/objectives/pick_up_tool_from_holder.xml
@@ -13,10 +13,10 @@
         timeout="10"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="{tool_attach_site}"
         position_xyz="0;0;-0.1"
-        stamped_pose="{approach_pose}"
+        pose_stamped="{approach_pose}"
       />
       <Action
         ID="InitializeMTCTask"
diff --git a/src/factory_sim/objectives/place_tool_in_tool_holder.xml b/src/factory_sim/objectives/place_tool_in_tool_holder.xml
index e66ae9b70..4e1eed56d 100644
--- a/src/factory_sim/objectives/place_tool_in_tool_holder.xml
+++ b/src/factory_sim/objectives/place_tool_in_tool_holder.xml
@@ -7,10 +7,10 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="{tool_return_site}"
         position_xyz="0;0;-0.15"
-        stamped_pose="{approach_pose}"
+        pose_stamped="{approach_pose}"
       />
       <Action
         ID="InitializeMTCTask"
diff --git a/src/factory_sim/objectives/plan_path_along_surface.xml b/src/factory_sim/objectives/plan_path_along_surface.xml
index 5d7757db8..6281bf4d9 100644
--- a/src/factory_sim/objectives/plan_path_along_surface.xml
+++ b/src/factory_sim/objectives/plan_path_along_surface.xml
@@ -36,9 +36,9 @@
         target_frame="world"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{roi_frame}"
+        pose_stamped="{roi_frame}"
         position_xyz="0.6;0.2;0.9"
         orientation_xyzw="0.707; 0.000; 0.000; 0.707"
       />
diff --git a/src/factory_sim/objectives/reachability_analysis_-_blocks.xml b/src/factory_sim/objectives/reachability_analysis_-_blocks.xml
index 9c047e0a9..9ebbee88f 100644
--- a/src/factory_sim/objectives/reachability_analysis_-_blocks.xml
+++ b/src/factory_sim/objectives/reachability_analysis_-_blocks.xml
@@ -17,9 +17,9 @@
         <SubTree ID="Take Snapshot" _collapsed="true" />
       </Control>
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0.7071;0.7071;0;0.0004"
         position_xyz="-0.35;0.4;0.288"
         name="Pose to make a grid of reachability poses from"
@@ -33,7 +33,7 @@
         joint_group_name="manipulator"
         controller_names="joint_trajectory_admittance_controller"
         controller_action_server="/joint_trajectory_admittance_controller/follow_joint_trajectory"
-        reachability_origin_pose="{stamped_pose}"
+        reachability_origin_pose="{pose_stamped}"
         starting_waypoint="View blocks"
         approach_distance="0.1"
         column_spacing_translation="0;0.175;0"
diff --git a/src/factory_sim/objectives/reachability_analysis_for_mesh.xml b/src/factory_sim/objectives/reachability_analysis_for_mesh.xml
index 9a8387474..768c73ec9 100644
--- a/src/factory_sim/objectives/reachability_analysis_for_mesh.xml
+++ b/src/factory_sim/objectives/reachability_analysis_for_mesh.xml
@@ -32,9 +32,9 @@
       </Control>
       <Control ID="Sequence" name="Make vector of place poses to plan to">
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="tool0"
-          stamped_pose="{tool_pose}"
+          pose_stamped="{tool_pose}"
           orientation_xyzw="0;0;0;1"
           position_xyz="0;0;0"
         />
diff --git a/src/factory_sim/objectives/reachability_analysis_for_plane.xml b/src/factory_sim/objectives/reachability_analysis_for_plane.xml
index 63fc93de7..e54d2c243 100644
--- a/src/factory_sim/objectives/reachability_analysis_for_plane.xml
+++ b/src/factory_sim/objectives/reachability_analysis_for_plane.xml
@@ -38,9 +38,9 @@
       </Control>
       <Control ID="Sequence" name="Visualize key poses">
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="{ik_frame}"
-          stamped_pose="{tool_pose}"
+          pose_stamped="{tool_pose}"
           orientation_xyzw="0;0;0;1"
           position_xyz="0;0;0"
         />
diff --git a/src/factory_sim/objectives/setup_initial_planning_scene.xml b/src/factory_sim/objectives/setup_initial_planning_scene.xml
index 320aa5df9..520b49411 100644
--- a/src/factory_sim/objectives/setup_initial_planning_scene.xml
+++ b/src/factory_sim/objectives/setup_initial_planning_scene.xml
@@ -8,8 +8,8 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{suction_tool_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{suction_tool_pose}"
         reference_frame="suction_gripper_holder_site"
       />
       <Action
@@ -20,8 +20,8 @@
         urdf_name="suction_gripper"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{inspection_tool_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{inspection_tool_pose}"
         reference_frame="inspection_tool_holder_site"
       />
       <Action
diff --git a/src/factory_sim/objectives/vacuum_drop_bracket_part_subtree.xml b/src/factory_sim/objectives/vacuum_drop_bracket_part_subtree.xml
index 3caf894be..f8242ea64 100644
--- a/src/factory_sim/objectives/vacuum_drop_bracket_part_subtree.xml
+++ b/src/factory_sim/objectives/vacuum_drop_bracket_part_subtree.xml
@@ -8,9 +8,9 @@
     <Control ID="Sequence">
       <!--The drop pose is at a 5 degree tilt so it doesn't drop straight into the bin or on top of another part. Simulator instabilities can cause parts to jump when dropped perfectly flat.-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{drop_pose}"
+        pose_stamped="{drop_pose}"
         orientation_xyzw="-0.706; -0.706; -0.031; -0.031"
         position_xyz="0.23;0.54;0.65"
       />
diff --git a/src/factory_sim/objectives/visualize_bins_and_jig_subtree.xml b/src/factory_sim/objectives/visualize_bins_and_jig_subtree.xml
index b81c6f2fb..3e56040ae 100644
--- a/src/factory_sim/objectives/visualize_bins_and_jig_subtree.xml
+++ b/src/factory_sim/objectives/visualize_bins_and_jig_subtree.xml
@@ -14,15 +14,15 @@
         publisher_timeout_sec="5.000000"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{bin_table_center}"
+        pose_stamped="{bin_table_center}"
         position_xyz="0;0.6;0.2"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{jig_center}"
+        pose_stamped="{jig_center}"
         position_xyz="-0.4;-0.4;0.2"
       />
       <Action
diff --git a/src/grinding_sim/objectives/capture_point_cloud.xml b/src/grinding_sim/objectives/capture_point_cloud.xml
index 226f6e6f9..44191ac08 100644
--- a/src/grinding_sim/objectives/capture_point_cloud.xml
+++ b/src/grinding_sim/objectives/capture_point_cloud.xml
@@ -10,14 +10,14 @@
         message_out="{point_cloud}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         position_xyz="0;-1.69;1.0"
       />
       <Action
         ID="CropPointsInBox"
-        crop_box_centroid_pose="{stamped_pose}"
+        crop_box_centroid_pose="{pose_stamped}"
         point_cloud="{point_cloud}"
         point_cloud_cropped="{point_cloud_cropped}"
         crop_box_size="1.0;0.5;0.55"
diff --git a/src/grinding_sim/objectives/register_machined_part.xml b/src/grinding_sim/objectives/register_machined_part.xml
index 2ea36148b..824b84fec 100644
--- a/src/grinding_sim/objectives/register_machined_part.xml
+++ b/src/grinding_sim/objectives/register_machined_part.xml
@@ -10,11 +10,11 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         position_xyz="0.2;-1.5;0.710"
         orientation_xyzw="0.000;0.000;0.3827;0.9239"
         name="Initial Guess"
-        stamped_pose="{guess_pose}"
+        pose_stamped="{guess_pose}"
         reference_frame="world"
       />
       <SubTree
@@ -36,9 +36,9 @@
         message_timeout_sec="5.000000"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{centroid_pose}"
+        pose_stamped="{centroid_pose}"
         position_xyz="0;-1.69;1.0"
       />
       <Action
diff --git a/src/grinding_sim/objectives/save_tool_pose_yaml.xml b/src/grinding_sim/objectives/save_tool_pose_yaml.xml
index d51e149aa..519cc2ada 100644
--- a/src/grinding_sim/objectives/save_tool_pose_yaml.xml
+++ b/src/grinding_sim/objectives/save_tool_pose_yaml.xml
@@ -5,9 +5,9 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Create a pose at the grasp_link by creating in the grasp_link frame without transforming it -->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{tool_pose_tool_frame}"
+        pose_stamped="{tool_pose_tool_frame}"
       />
       <!-- Transform the pose to the world frame before saving -->
       <Action
diff --git a/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml b/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
index df61eec23..1c3d84677 100644
--- a/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
+++ b/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
@@ -17,8 +17,8 @@
         file_path="picknik.yaml"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;1;0"
         position_xyz="0;0;0.5"
         reference_frame="grasp_link"
@@ -28,13 +28,13 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Control ID="Parallel" failure_count="1" success_count="1">
         <Action
           ID="PublishStaticFrame"
           child_frame_id="local"
-          pose="{stamped_pose}"
+          pose="{pose_stamped}"
           publish_rate="50"
         />
         <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/hangar_sim/objectives/cartesian_path_with_collision_checking.xml b/src/hangar_sim/objectives/cartesian_path_with_collision_checking.xml
index cf7e4dcc2..c01166754 100644
--- a/src/hangar_sim/objectives/cartesian_path_with_collision_checking.xml
+++ b/src/hangar_sim/objectives/cartesian_path_with_collision_checking.xml
@@ -24,9 +24,9 @@
         keep_orientation_link_names="grasp_link"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;5"
       />
@@ -35,11 +35,11 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
diff --git a/src/hangar_sim/objectives/cartesian_plan_simple_square.xml b/src/hangar_sim/objectives/cartesian_plan_simple_square.xml
index e681f3450..3e1644715 100644
--- a/src/hangar_sim/objectives/cartesian_plan_simple_square.xml
+++ b/src/hangar_sim/objectives/cartesian_plan_simple_square.xml
@@ -22,9 +22,9 @@
         waypoint_name="Look at Plane"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;0.4"
       />
@@ -33,59 +33,59 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;-0.4;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0.4;-0.4;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0.4;0;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
diff --git a/src/hangar_sim/objectives/compute_ik_plan_and_move.xml b/src/hangar_sim/objectives/compute_ik_plan_and_move.xml
index 2b39b6214..38f05a075 100644
--- a/src/hangar_sim/objectives/compute_ik_plan_and_move.xml
+++ b/src/hangar_sim/objectives/compute_ik_plan_and_move.xml
@@ -8,9 +8,9 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{target_pose}"
+        pose_stamped="{target_pose}"
         position_xyz="0;0;0.3"
       />
       <Action
diff --git a/src/hangar_sim/objectives/count_boxes_objective.xml b/src/hangar_sim/objectives/count_boxes_objective.xml
index 85f310b92..521b5af88 100644
--- a/src/hangar_sim/objectives/count_boxes_objective.xml
+++ b/src/hangar_sim/objectives/count_boxes_objective.xml
@@ -15,9 +15,9 @@
       />
       <!--Crop outliers from our region of interest-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{crop_pose_centroid}"
+        pose_stamped="{crop_pose_centroid}"
         position_xyz="-11;2.75;0"
       />
       <Action
diff --git a/src/hangar_sim/objectives/count_boxes_subtree.xml b/src/hangar_sim/objectives/count_boxes_subtree.xml
index 1dcc5f307..003610bda 100644
--- a/src/hangar_sim/objectives/count_boxes_subtree.xml
+++ b/src/hangar_sim/objectives/count_boxes_subtree.xml
@@ -66,9 +66,9 @@
           topic_name="/wrist_camera/points"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="ridgeback_base_link"
-          stamped_pose="{robot_pose}"
+          pose_stamped="{robot_pose}"
           orientation_xyzw="0;0;0;1"
           position_xyz="0;0;0"
         />
diff --git a/src/hangar_sim/objectives/find_and_spray_plane.xml b/src/hangar_sim/objectives/find_and_spray_plane.xml
index 79e975a43..94c8ca7b8 100644
--- a/src/hangar_sim/objectives/find_and_spray_plane.xml
+++ b/src/hangar_sim/objectives/find_and_spray_plane.xml
@@ -22,16 +22,16 @@
         keep_orientation_link_names="grasp_link"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;1"
       />
       <SubTree
         ID="Get Point Cloud Center Pose"
         _collapsed="true"
-        input_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
         output_pose="{center_pose}"
       />
       <Action
diff --git a/src/hangar_sim/objectives/generate_grid_pattern_on_airplane.xml b/src/hangar_sim/objectives/generate_grid_pattern_on_airplane.xml
index 66b6cf31f..acead42bf 100644
--- a/src/hangar_sim/objectives/generate_grid_pattern_on_airplane.xml
+++ b/src/hangar_sim/objectives/generate_grid_pattern_on_airplane.xml
@@ -22,9 +22,9 @@
         waypoint_name="Look at Plane"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;-0.5;1"
       />
@@ -33,12 +33,12 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Action
         ID="GenerateCoveragePath"
         vector_of_poses="{pose_stamped_vector}"
-        bottom_right_corner="{stamped_pose}"
+        bottom_right_corner="{pose_stamped}"
         height="0.5"
         stride_distance="0.1"
         width="0.5"
diff --git a/src/hangar_sim/objectives/get_point_cloud_center_pose.xml b/src/hangar_sim/objectives/get_point_cloud_center_pose.xml
index 5575cb83d..094b5f02e 100644
--- a/src/hangar_sim/objectives/get_point_cloud_center_pose.xml
+++ b/src/hangar_sim/objectives/get_point_cloud_center_pose.xml
@@ -5,7 +5,7 @@
     ID="Get Point Cloud Center Pose"
     _description="Take a Wrist Camera Snapshot and return the center pose of the point cloud"
     _favorite="false"
-    input_pose="{stamped_pose}"
+    input_pose="{pose_stamped}"
     output_pose="{plane_pose}"
   >
     <Control ID="Sequence" name="TopLevelSequence">
@@ -43,7 +43,7 @@
   </BehaviorTree>
   <TreeNodesModel>
     <SubTree ID="Get Point Cloud Center Pose">
-      <inout_port name="input_pose" default="{stamped_pose}" />
+      <inout_port name="input_pose" default="{pose_stamped}" />
       <inout_port name="output_pose" default="{plane_pose}" />
       <MetadataFields>
         <Metadata subcategory="Training Examples" />
diff --git a/src/hangar_sim/objectives/ml_move_boxes_to_loading_zone.xml b/src/hangar_sim/objectives/ml_move_boxes_to_loading_zone.xml
index c42e1813d..ed7347af1 100644
--- a/src/hangar_sim/objectives/ml_move_boxes_to_loading_zone.xml
+++ b/src/hangar_sim/objectives/ml_move_boxes_to_loading_zone.xml
@@ -8,9 +8,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{place_pose}"
+        pose_stamped="{place_pose}"
         orientation_xyzw="0;1.0;0;0"
         position_xyz="-4.5;8.4;0.5"
       />
diff --git a/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml b/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
index bf25c20c1..fe2681ff5 100644
--- a/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
+++ b/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
@@ -60,14 +60,14 @@
         output_cloud="{point_cloud}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         position_xyz="0;0;2.05"
       />
       <Action
         ID="CropPointsInBox"
-        crop_box_centroid_pose="{stamped_pose}"
+        crop_box_centroid_pose="{pose_stamped}"
         point_cloud="{point_cloud}"
         point_cloud_cropped="{point_cloud_cropped}"
         crop_box_size="40;40;4"
@@ -186,9 +186,9 @@
                 >
                   <Control ID="Sequence">
                     <Action
-                      ID="CreateStampedPose"
+                      ID="CreatePoseStamped"
                       reference_frame="world"
-                      stamped_pose="{ee_to_tcp}"
+                      pose_stamped="{ee_to_tcp}"
                       position_xyz="0;0;0"
                       orientation_xyzw="0;0;0;1"
                     />
diff --git a/src/hangar_sim/objectives/move_to_a_stampedpose.xml b/src/hangar_sim/objectives/move_to_a_stampedpose.xml
index 3a71efad4..4855dcd94 100644
--- a/src/hangar_sim/objectives/move_to_a_stampedpose.xml
+++ b/src/hangar_sim/objectives/move_to_a_stampedpose.xml
@@ -74,7 +74,7 @@
         name="controller_names"
         default="/joint_trajectory_controller"
       />
-      <input_port name="target_pose" default="{stamped_pose}" />
+      <input_port name="target_pose" default="{pose_stamped}" />
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/hangar_sim/objectives/navigate_to_clicked_point.xml b/src/hangar_sim/objectives/navigate_to_clicked_point.xml
index 6bcfe9ac1..7b0f2d729 100644
--- a/src/hangar_sim/objectives/navigate_to_clicked_point.xml
+++ b/src/hangar_sim/objectives/navigate_to_clicked_point.xml
@@ -8,9 +8,9 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="base_link"
-        stamped_pose="{start}"
+        pose_stamped="{start}"
       />
       <Action
         ID="SwitchController"
diff --git a/src/hangar_sim/objectives/plan_path_along_surface.xml b/src/hangar_sim/objectives/plan_path_along_surface.xml
index 2f6c17609..22e67346c 100644
--- a/src/hangar_sim/objectives/plan_path_along_surface.xml
+++ b/src/hangar_sim/objectives/plan_path_along_surface.xml
@@ -35,9 +35,9 @@
         target_frame="world"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{roi_frame}"
+        pose_stamped="{roi_frame}"
         position_xyz="0;12;1.7"
       />
       <Action
diff --git a/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
index 792087ef0..3e59290a8 100644
--- a/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
+++ b/src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
@@ -36,9 +36,9 @@
             target_frame="world"
           />
           <Action
-            ID="CreateStampedPose"
+            ID="CreatePoseStamped"
             reference_frame="world"
-            stamped_pose="{roi_frame}"
+            pose_stamped="{roi_frame}"
             position_xyz="0;12;1.7"
           />
           <Action
diff --git a/src/hangar_sim/objectives/solution_-_find_and_spray_plane.xml b/src/hangar_sim/objectives/solution_-_find_and_spray_plane.xml
index 452bd5a90..4e6201948 100644
--- a/src/hangar_sim/objectives/solution_-_find_and_spray_plane.xml
+++ b/src/hangar_sim/objectives/solution_-_find_and_spray_plane.xml
@@ -22,16 +22,16 @@
         keep_orientation_link_names="grasp_link"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;1"
       />
       <SubTree
         ID="Get Point Cloud Center Pose"
         _collapsed="true"
-        input_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
         output_pose="{center_pose}"
       />
       <Action
diff --git a/src/hangar_sim/objectives/solution_draw_picknik.xml b/src/hangar_sim/objectives/solution_draw_picknik.xml
index fc8b165a1..f77242342 100644
--- a/src/hangar_sim/objectives/solution_draw_picknik.xml
+++ b/src/hangar_sim/objectives/solution_draw_picknik.xml
@@ -13,8 +13,8 @@
         file_path="picknik.yaml"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;1;0"
         position_xyz="0;0;0.5"
         reference_frame="grasp_link"
@@ -24,13 +24,13 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Control ID="Parallel" failure_count="1" success_count="1">
         <Action
           ID="PublishStaticFrame"
           child_frame_id="local"
-          pose="{stamped_pose}"
+          pose="{pose_stamped}"
           publish_rate="50"
         />
         <Control ID="Sequence" name="TopLevelSequence">
diff --git a/src/hangar_sim/objectives/solution_draw_square.xml b/src/hangar_sim/objectives/solution_draw_square.xml
index 0829f11ee..0efa116f4 100644
--- a/src/hangar_sim/objectives/solution_draw_square.xml
+++ b/src/hangar_sim/objectives/solution_draw_square.xml
@@ -22,9 +22,9 @@
         waypoint_name="Look at Plane"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;0.4"
       />
@@ -33,59 +33,59 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;-0.4;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0.4;-0.4;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0.4;0;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;0.4"
       />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Action
diff --git a/src/hangar_sim/objectives/solution_generate_coverage_path.xml b/src/hangar_sim/objectives/solution_generate_coverage_path.xml
index 14d20a015..6cc26542e 100644
--- a/src/hangar_sim/objectives/solution_generate_coverage_path.xml
+++ b/src/hangar_sim/objectives/solution_generate_coverage_path.xml
@@ -22,9 +22,9 @@
         waypoint_name="Look at Plane"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;-0.5;1"
       />
@@ -33,12 +33,12 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Action
         ID="GenerateCoveragePath"
         vector_of_poses="{pose_stamped_vector}"
-        bottom_right_corner="{stamped_pose}"
+        bottom_right_corner="{pose_stamped}"
         height="0.5"
         stride_distance="0.1"
         width="0.5"
diff --git a/src/hangar_sim/objectives/solution_move_forward_2m.xml b/src/hangar_sim/objectives/solution_move_forward_2m.xml
index 8d356cd67..15320e8bd 100644
--- a/src/hangar_sim/objectives/solution_move_forward_2m.xml
+++ b/src/hangar_sim/objectives/solution_move_forward_2m.xml
@@ -8,9 +8,9 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;0;1"
         position_xyz="0;0;2"
       />
@@ -19,13 +19,13 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <SubTree
         ID="Move to a StampedPose"
         _collapsed="true"
         controller_names="joint_trajectory_controller"
-        target_pose="{stamped_pose}"
+        target_pose="{pose_stamped}"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/solution_spray_plane.xml b/src/hangar_sim/objectives/solution_spray_plane.xml
index 8597daeb0..b64ea4c64 100644
--- a/src/hangar_sim/objectives/solution_spray_plane.xml
+++ b/src/hangar_sim/objectives/solution_spray_plane.xml
@@ -18,9 +18,9 @@
         keep_orientation_link_names="grasp_link"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="0;0;.707;.707"
         position_xyz="1;-0.5;1"
       />
@@ -29,12 +29,12 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Action
         ID="GenerateCoveragePath"
         vector_of_poses="{pose_stamped_vector}"
-        bottom_right_corner="{stamped_pose}"
+        bottom_right_corner="{pose_stamped}"
         stride_distance="0.5"
         width="0.6"
         height="5"
diff --git a/src/kitchen_sim/objectives/take_scene_camera_snapshot.xml b/src/kitchen_sim/objectives/take_scene_camera_snapshot.xml
index 606ce31fe..e18233d4b 100644
--- a/src/kitchen_sim/objectives/take_scene_camera_snapshot.xml
+++ b/src/kitchen_sim/objectives/take_scene_camera_snapshot.xml
@@ -22,9 +22,9 @@
       />
       <Control ID="Sequence">
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="world"
-          stamped_pose="{pose}"
+          pose_stamped="{pose}"
           position_xyz="1.2;0;0.9"
         />
         <Action
@@ -40,9 +40,9 @@
           point_cloud_vector="{point_clouds}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="world"
-          stamped_pose="{pose}"
+          pose_stamped="{pose}"
           position_xyz="0;1.2;0.9"
         />
         <Action
diff --git a/src/kitchen_sim/objectives/wipe_text.xml b/src/kitchen_sim/objectives/wipe_text.xml
index f4cd919c9..4fff9c4ee 100644
--- a/src/kitchen_sim/objectives/wipe_text.xml
+++ b/src/kitchen_sim/objectives/wipe_text.xml
@@ -46,7 +46,7 @@
         <Metadata runnable="false" />
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>
-      <inout_port name="bottom_right_corner" default="{stamped_pose}" />
+      <inout_port name="bottom_right_corner" default="{pose_stamped}" />
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/kitchen_sim/objectives/write_text.xml b/src/kitchen_sim/objectives/write_text.xml
index bb8c1881e..3d071d37f 100644
--- a/src/kitchen_sim/objectives/write_text.xml
+++ b/src/kitchen_sim/objectives/write_text.xml
@@ -69,7 +69,7 @@
         <Metadata runnable="false" />
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>
-      <inout_port name="bottom_right_corner" default="{stamped_pose}" />
+      <inout_port name="bottom_right_corner" default="{pose_stamped}" />
       <inout_port name="file_path" default="{file_path}" />
     </SubTree>
   </TreeNodesModel>
diff --git a/src/kitchen_sim/objectives/writing_demo.xml b/src/kitchen_sim/objectives/writing_demo.xml
index 35921d1d3..725acf945 100644
--- a/src/kitchen_sim/objectives/writing_demo.xml
+++ b/src/kitchen_sim/objectives/writing_demo.xml
@@ -25,9 +25,9 @@
       />
       <Control ID="Sequence">
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="fr3_link0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
           orientation_xyzw="-0.7073883;0.7068252;0.0000327;0.0000328"
           position_xyz="0.6;0.3;0.09"
         />
@@ -36,18 +36,18 @@
           marker_lifetime="0.000000"
           marker_name="pose"
           marker_size="0.100000"
-          pose="{stamped_pose}"
+          pose="{pose_stamped}"
         />
         <SubTree
           ID="Write Text"
           _collapsed="true"
           file_path="moveitpro_loves_franka.yaml"
-          bottom_right_corner="{stamped_pose}"
+          bottom_right_corner="{pose_stamped}"
         />
         <SubTree
           ID="Wipe Text"
           _collapsed="true"
-          bottom_right_corner="{stamped_pose}"
+          bottom_right_corner="{pose_stamped}"
         />
       </Control>
       <SubTree
diff --git a/src/lab_sim/objectives/add_table_to_planning_scene.xml b/src/lab_sim/objectives/add_table_to_planning_scene.xml
index 55e732512..540237ce4 100644
--- a/src/lab_sim/objectives/add_table_to_planning_scene.xml
+++ b/src/lab_sim/objectives/add_table_to_planning_scene.xml
@@ -12,9 +12,9 @@
         planning_scene_msg="{planning_scene}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{table_pose}"
+        pose_stamped="{table_pose}"
         position_xyz="-0.076413; 0.97; 0.42;"
       />
       <Action
diff --git a/src/lab_sim/objectives/addcollisionboxinfrontofendeffector.xml b/src/lab_sim/objectives/addcollisionboxinfrontofendeffector.xml
index 623ba3110..877e997a1 100644
--- a/src/lab_sim/objectives/addcollisionboxinfrontofendeffector.xml
+++ b/src/lab_sim/objectives/addcollisionboxinfrontofendeffector.xml
@@ -12,9 +12,9 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         position_xyz="{offset}"
       />
       <Action
@@ -26,14 +26,14 @@
         ID="CreateCollisionObjectFromSolidPrimitive"
         collision_object="{collision_object}"
         object_id="{object_id}"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
         solid_primitive="{solid_primitive}"
       />
       <SubTree
         ID="AddCollisionObjectToPlanningScene"
         _collapsed="false"
         collision_object="{collision_object}"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
         object_id="{object_id}"
       />
     </Control>
diff --git a/src/lab_sim/objectives/addcollisionobjecttoplanningscene.xml b/src/lab_sim/objectives/addcollisionobjecttoplanningscene.xml
index fad5a691e..6f5b31eab 100644
--- a/src/lab_sim/objectives/addcollisionobjecttoplanningscene.xml
+++ b/src/lab_sim/objectives/addcollisionobjecttoplanningscene.xml
@@ -61,7 +61,7 @@
       </inout_port>
       <inout_port
         name="pose"
-        default="{stamped_pose}"
+        default="{pose_stamped}"
         type="geometry_msgs::msg::PoseStamped_&lt;std::allocator&lt;void&gt; &gt;"
       />
     </SubTree>
diff --git a/src/lab_sim/objectives/create_pcl_poses_vector.xml b/src/lab_sim/objectives/create_pcl_poses_vector.xml
index a1df1862c..12a62aa7c 100644
--- a/src/lab_sim/objectives/create_pcl_poses_vector.xml
+++ b/src/lab_sim/objectives/create_pcl_poses_vector.xml
@@ -9,76 +9,76 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0.000; 0.000; 0.000; 1.000"
         position_xyz="0.5;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0.000; 0.000; 0.000; 1.000"
         position_xyz="0.4;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0.000; 0.000; 0.000; 1.000"
         position_xyz="0.3;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0.000; 0.000; 0.000; 1.000"
         position_xyz="0.2;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0.000; 0.000; 0.000; 1.000"
         position_xyz="0.1;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0.000; 0.000; 0.000; 1.000"
         position_xyz="-0.1;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/create_pose_vector.xml b/src/lab_sim/objectives/create_pose_vector.xml
index 4b96f495d..da6b681ea 100644
--- a/src/lab_sim/objectives/create_pose_vector.xml
+++ b/src/lab_sim/objectives/create_pose_vector.xml
@@ -9,100 +9,100 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="0.75;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="0.5;0.5;0.8"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="0.25;0.5;0.7"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="0;0.5;0.6"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="-0.25;0.5;0.7"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="-0.5;0.5;0.8"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="-0.75;0.5;0.9"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="-1;0.5;1"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
         ID="AddPoseStampedToVector"
         vector="{target_poses}"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/force_relaxation.xml b/src/lab_sim/objectives/force_relaxation.xml
index 0a0fdc57f..e0cb598a5 100644
--- a/src/lab_sim/objectives/force_relaxation.xml
+++ b/src/lab_sim/objectives/force_relaxation.xml
@@ -8,14 +8,14 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedTwist"
+        ID="CreateTwistStamped"
         reference_frame="{tip_link}"
-        stamped_twist="{zero_twist}"
+        twist_stamped="{zero_twist}"
       />
       <Action
-        ID="CreateStampedWrench"
+        ID="CreateWrenchStamped"
         reference_frame="{tip_link}"
-        stamped_wrench="{zero_wrench}"
+        wrench_stamped="{zero_wrench}"
       />
       <Decorator ID="ForceSuccess">
         <Decorator ID="Timeout" msec="{relaxation_time_ms}">
diff --git a/src/lab_sim/objectives/get_pose_at_gripper_and_display.xml b/src/lab_sim/objectives/get_pose_at_gripper_and_display.xml
index 80520463d..f62f3720a 100644
--- a/src/lab_sim/objectives/get_pose_at_gripper_and_display.xml
+++ b/src/lab_sim/objectives/get_pose_at_gripper_and_display.xml
@@ -8,12 +8,12 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         position_xyz="0; 0; 0"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="pinch"
       />
-      <Action ID="TransformPoseFrame" input_pose="{stamped_pose}" />
+      <Action ID="TransformPoseFrame" input_pose="{pose_stamped}" />
       <Action ID="VisualizePose" pose="{output_pose}" />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/get_transform_frame_pose.xml b/src/lab_sim/objectives/get_transform_frame_pose.xml
index 67346b315..158a132ab 100644
--- a/src/lab_sim/objectives/get_transform_frame_pose.xml
+++ b/src/lab_sim/objectives/get_transform_frame_pose.xml
@@ -9,9 +9,9 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="{requested_frame}"
-        stamped_pose="{identity_pose}"
+        pose_stamped="{identity_pose}"
         name="Make an identity pose to be transformed"
         orientation_xyzw="0.; 0.; 0.; 1."
         position_xyz="0.;0.;0."
diff --git a/src/lab_sim/objectives/grasp_planning.xml b/src/lab_sim/objectives/grasp_planning.xml
index 597d3ca41..817bca25d 100644
--- a/src/lab_sim/objectives/grasp_planning.xml
+++ b/src/lab_sim/objectives/grasp_planning.xml
@@ -16,10 +16,10 @@
       <Control ID="Sequence">
         <!--Define and visualize two grasp candidates-->
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           orientation_xyzw="0;1;0;0"
           position_xyz="0.01;.75;0.515"
-          stamped_pose="{grasp_candidate_1}"
+          pose_stamped="{grasp_candidate_1}"
           reference_frame="world"
         />
         <Action
@@ -35,10 +35,10 @@
           pose="{grasp_candidate_1}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           orientation_xyzw="0;0.9848078;0.1736482;0"
           position_xyz="0.01;.75;0.515"
-          stamped_pose="{grasp_candidate_2}"
+          pose_stamped="{grasp_candidate_2}"
           reference_frame="world"
         />
         <Action
diff --git a/src/lab_sim/objectives/load_and_visualize_point_cloud.xml b/src/lab_sim/objectives/load_and_visualize_point_cloud.xml
index eab810656..a2be2471e 100644
--- a/src/lab_sim/objectives/load_and_visualize_point_cloud.xml
+++ b/src/lab_sim/objectives/load_and_visualize_point_cloud.xml
@@ -39,7 +39,7 @@
       </MetadataFields>
       <inout_port
         name="input_pose"
-        default="{stamped_pose}"
+        default="{pose_stamped}"
         type="geometry_msgs::msg::PoseStamped_&lt;std::allocator&lt;void&gt; &gt;"
       />
       <inout_port
diff --git a/src/lab_sim/objectives/move_with_velocity_and_force.xml b/src/lab_sim/objectives/move_with_velocity_and_force.xml
index 616b2cd09..f991be677 100644
--- a/src/lab_sim/objectives/move_with_velocity_and_force.xml
+++ b/src/lab_sim/objectives/move_with_velocity_and_force.xml
@@ -23,23 +23,23 @@
         service_name="/velocity_force_controller/zero_fts"
       />
       <Action
-        ID="CreateStampedWrench"
-        stamped_wrench="{desired_wrench}"
+        ID="CreateWrenchStamped"
+        wrench_stamped="{desired_wrench}"
         reference_frame="grasp_link"
         torque_xyz="0;0;0"
         force_xyz="0;0;0"
       />
       <Action
-        ID="CreateStampedTwist"
+        ID="CreateTwistStamped"
         reference_frame="grasp_link"
-        stamped_twist="{desired_twist}"
+        twist_stamped="{desired_twist}"
         angular_velocity_xyz="0;0;0"
         linear_velocity_xyz="0.0;0;0.05"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{initial_pose}"
+        pose_stamped="{initial_pose}"
       />
       <Action
         ID="TransformPoseFrame"
diff --git a/src/lab_sim/objectives/mpc_pose_tracking.xml b/src/lab_sim/objectives/mpc_pose_tracking.xml
index 8ee08b702..7d89cc5b8 100644
--- a/src/lab_sim/objectives/mpc_pose_tracking.xml
+++ b/src/lab_sim/objectives/mpc_pose_tracking.xml
@@ -15,33 +15,33 @@
           waypoint_name="Above Pick Object"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="pinch"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
           position_xyz="0;0.3;0.2"
           orientation_xyzw="0;0;1;1"
         />
         <Action
           ID="TransformPoseFrame"
-          input_pose="{stamped_pose}"
-          output_pose="{stamped_pose_linear}"
+          input_pose="{pose_stamped}"
+          output_pose="{pose_stamped_linear}"
           target_frame_id="world"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="world"
-          stamped_pose="{stamped_pose_rotation}"
+          pose_stamped="{pose_stamped_rotation}"
         />
         <Action
           ID="TransformPoseWithPose"
-          input_pose="{stamped_pose_rotation}"
-          output_pose="{stamped_pose}"
-          transform_pose="{stamped_pose_rotation}"
+          input_pose="{pose_stamped_rotation}"
+          output_pose="{pose_stamped}"
+          transform_pose="{pose_stamped_rotation}"
         />
         <Action
-          ID="CreateStampedTwist"
+          ID="CreateTwistStamped"
           reference_frame="world"
-          stamped_twist="{stamped_twist}"
+          twist_stamped="{twist_stamped}"
           linear_velocity_xyz="-0.1;0.0;0.1"
           angular_velocity_xyz="0;0;0.3"
         />
@@ -54,21 +54,21 @@
                     <Control ID="Sequence">
                       <Action
                         ID="TransformPose"
-                        input_pose="{stamped_pose_linear}"
-                        output_pose="{stamped_pose_linear}"
+                        input_pose="{pose_stamped_linear}"
+                        output_pose="{pose_stamped_linear}"
                         translation_xyz="0.001;0.0;-0.0003"
                       />
                       <Action
                         ID="TransformPose"
-                        input_pose="{stamped_pose_rotation}"
-                        output_pose="{stamped_pose_rotation}"
+                        input_pose="{pose_stamped_rotation}"
+                        output_pose="{pose_stamped_rotation}"
                         quaternion_xyzw="0;0;-0.004;.999"
                       />
                       <Action
                         ID="TransformPoseWithPose"
-                        input_pose="{stamped_pose_rotation}"
-                        output_pose="{stamped_pose}"
-                        transform_pose="{stamped_pose_linear}"
+                        input_pose="{pose_stamped_rotation}"
+                        output_pose="{pose_stamped}"
+                        transform_pose="{pose_stamped_linear}"
                       />
                     </Control>
                   </Decorator>
@@ -81,12 +81,12 @@
                         marker_lifetime="0.000000"
                         marker_name="target"
                         marker_size="0.100000"
-                        pose="{stamped_pose}"
+                        pose="{pose_stamped}"
                       />
                       <Action
-                        ID="CreateStampedPose"
+                        ID="CreatePoseStamped"
                         reference_frame="pinch"
-                        stamped_pose="{current_pinch}"
+                        pose_stamped="{current_pinch}"
                       />
                       <Action
                         ID="TransformPoseFrame"
@@ -139,8 +139,8 @@
                   velocity="0.000000"
                   follow_joint_trajectory_topic="/joint_trajectory_controller/follow_joint_trajectory"
                   set_ctrl_command_to_current_state="true"
-                  target_pose="{stamped_pose}"
-                  target_twist="{stamped_twist}"
+                  target_pose="{pose_stamped}"
+                  target_twist="{twist_stamped}"
                 />
               </Control>
             </Decorator>
diff --git a/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml b/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml
index 559fc4652..dc8affd44 100644
--- a/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml
+++ b/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml
@@ -22,14 +22,14 @@
         _collapsed="false"
         link_pose="{link_pose}"
       />
-      <Decorator ID="ForEach" vector_in="{target_poses}" out="{stamped_pose}">
+      <Decorator ID="ForEach" vector_in="{target_poses}" out="{pose_stamped}">
         <Control ID="Sequence">
           <Action ID="VisualizePose" />
           <Action ID="BreakpointSubscriber" _skipIf="true" />
           <SubTree
             ID="LoadAndVisualizePointCloud"
             _collapsed="false"
-            input_pose="{stamped_pose}"
+            input_pose="{pose_stamped}"
             transform_cloud="{output_cloud}"
           />
           <SubTree
@@ -51,9 +51,9 @@
             marker_poses="{marker_poses2}"
           />
           <Action
-            ID="CreateStampedTwist"
+            ID="CreateTwistStamped"
             reference_frame="world"
-            stamped_twist="{stamped_twist}"
+            twist_stamped="{twist_stamped}"
           />
           <Action
             ID="PublishMarkers"
@@ -97,7 +97,7 @@
                   safe_distance="0.25"
                   sphere_clearance="1.0"
                   target_pose="{link_pose}"
-                  target_twist="{stamped_twist}"
+                  target_twist="{twist_stamped}"
                   warmup_iterations="256"
                   timeout="300"
                   site_tracking="0.2"
diff --git a/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml b/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml
index d3a78e57d..8f8039c5e 100644
--- a/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml
+++ b/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml
@@ -12,16 +12,16 @@
       <SubTree ID="Clear Snapshot" _collapsed="true" />
       <SubTree ID="Move to Waypoint" _collapsed="true" waypoint_name="Home" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         position_xyz="0.0;0.5;0.8"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action ID="VisualizePose" />
       <SubTree
         ID="LoadAndVisualizePointCloud"
         _collapsed="false"
-        input_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
         transform_cloud="{output_cloud}"
       />
       <SubTree
@@ -69,9 +69,9 @@
         marker_poses="{marker_poses2}"
       />
       <Action
-        ID="CreateStampedTwist"
+        ID="CreateTwistStamped"
         reference_frame="world"
-        stamped_twist="{stamped_twist}"
+        twist_stamped="{twist_stamped}"
       />
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="40000">
@@ -108,7 +108,7 @@
               safe_distance="0.25"
               sphere_clearance="1.0"
               target_pose="{link_pose}"
-              target_twist="{stamped_twist}"
+              target_twist="{twist_stamped}"
               warmup_iterations="256"
               timeout="300"
               site_tracking="0.2"
diff --git a/src/lab_sim/objectives/mpc_pose_tracking_with_point_cloud_avoidance.xml b/src/lab_sim/objectives/mpc_pose_tracking_with_point_cloud_avoidance.xml
index 1b41e9945..a730b3d61 100644
--- a/src/lab_sim/objectives/mpc_pose_tracking_with_point_cloud_avoidance.xml
+++ b/src/lab_sim/objectives/mpc_pose_tracking_with_point_cloud_avoidance.xml
@@ -24,14 +24,14 @@
         topic_name="/wrist_camera/points"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="base_link"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         position_xyz="0.0;0.2;0.0"
       />
       <Action
         ID="CropPointsInBox"
-        crop_box_centroid_pose="{stamped_pose}"
+        crop_box_centroid_pose="{pose_stamped}"
         point_cloud="{point_cloud}"
         point_cloud_cropped="{point_cloud}"
         crop_box_size="0.2;0.2;0.2"
@@ -48,15 +48,15 @@
         waypoint_name="Home"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="pinch"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         position_xyz="0;0.3;0.1"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="world"
       />
       <Action
@@ -64,12 +64,12 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Action
-        ID="CreateStampedTwist"
+        ID="CreateTwistStamped"
         reference_frame="world"
-        stamped_twist="{stamped_twist}"
+        twist_stamped="{twist_stamped}"
       />
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="7000">
@@ -108,8 +108,8 @@
               point_cloud="{point_cloud}"
               point_cloud_clearance="1.1"
               safe_distance="0.25"
-              target_pose="{stamped_pose}"
-              target_twist="{stamped_twist}"
+              target_pose="{pose_stamped}"
+              target_twist="{twist_stamped}"
               site_tracking="0.45"
             />
           </Control>
diff --git a/src/lab_sim/objectives/mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml b/src/lab_sim/objectives/mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml
index eedf4f290..1144eabdd 100644
--- a/src/lab_sim/objectives/mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml
+++ b/src/lab_sim/objectives/mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml
@@ -92,9 +92,9 @@
         marker_poses="{marker_poses2}"
       />
       <Action
-        ID="CreateStampedTwist"
+        ID="CreateTwistStamped"
         reference_frame="world"
-        stamped_twist="{stamped_twist}"
+        twist_stamped="{twist_stamped}"
       />
       <Control ID="Fallback">
         <Decorator ID="Timeout" msec="40000">
@@ -133,7 +133,7 @@
               sphere_clearance="1.0"
               site_tracking="1.0"
               target_pose="{link_pose}"
-              target_twist="{stamped_twist}"
+              target_twist="{twist_stamped}"
               warmup_iterations="256"
               timeout="300"
             />
diff --git a/src/lab_sim/objectives/pick_from_pose.xml b/src/lab_sim/objectives/pick_from_pose.xml
index 320baa47a..7567d567b 100644
--- a/src/lab_sim/objectives/pick_from_pose.xml
+++ b/src/lab_sim/objectives/pick_from_pose.xml
@@ -66,9 +66,9 @@
       <SubTree ID="Execute MTC Solution" solution="{mtc_solution}" />
       <SubTree ID="Close Gripper" _collapsed="true" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{retract_pose}"
+        pose_stamped="{retract_pose}"
         position_xyz="{retract_xyz}"
       />
       <Action ID="ResetPoseStampedVector" vector="{retract_path}" />
diff --git a/src/lab_sim/objectives/pick_from_pose_with_approval.xml b/src/lab_sim/objectives/pick_from_pose_with_approval.xml
index dbfc65994..f89ea6ad7 100644
--- a/src/lab_sim/objectives/pick_from_pose_with_approval.xml
+++ b/src/lab_sim/objectives/pick_from_pose_with_approval.xml
@@ -72,9 +72,9 @@
       <SubTree ID="Execute MTC Solution" solution="{mtc_solution}" />
       <SubTree ID="Close Gripper" _collapsed="true" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{retract_pose}"
+        pose_stamped="{retract_pose}"
         position_xyz="{retract_xyz}"
       />
       <Action ID="ResetPoseStampedVector" vector="{retract_path}" />
diff --git a/src/lab_sim/objectives/pick_object.xml b/src/lab_sim/objectives/pick_object.xml
index 3fbce5948..d240ff806 100644
--- a/src/lab_sim/objectives/pick_object.xml
+++ b/src/lab_sim/objectives/pick_object.xml
@@ -10,10 +10,10 @@
       <SubTree ID="Open Gripper" />
       <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;1;0;0"
         position_xyz="0.01;.75;0.515"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         reference_frame="world"
       />
       <Action
@@ -21,12 +21,12 @@
         marker_lifetime="0.000000"
         marker_name="Object Pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <SubTree
         ID="Pick from Pose"
         _collapsed="true"
-        grasp_pose="{stamped_pose}"
+        grasp_pose="{pose_stamped}"
         approach_distance="0.1"
         retract_xyz="0;0;-0.1"
       />
diff --git a/src/lab_sim/objectives/place_at_pose.xml b/src/lab_sim/objectives/place_at_pose.xml
index c50a95669..1b78d511a 100644
--- a/src/lab_sim/objectives/place_at_pose.xml
+++ b/src/lab_sim/objectives/place_at_pose.xml
@@ -66,9 +66,9 @@
       <SubTree ID="Execute MTC Solution" solution="{mtc_solution}" />
       <SubTree ID="Open Gripper" _collapsed="true" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{retract_pose}"
+        pose_stamped="{retract_pose}"
         position_xyz="{retract_xyz}"
       />
       <Action ID="ResetPoseStampedVector" vector="{retract_path}" />
diff --git a/src/lab_sim/objectives/place_at_pose_with_approval.xml b/src/lab_sim/objectives/place_at_pose_with_approval.xml
index 981ac792a..6b438e37b 100644
--- a/src/lab_sim/objectives/place_at_pose_with_approval.xml
+++ b/src/lab_sim/objectives/place_at_pose_with_approval.xml
@@ -66,9 +66,9 @@
       <SubTree ID="Execute MTC Solution" solution="{mtc_solution}" />
       <SubTree ID="Open Gripper" _collapsed="true" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{retract_pose}"
+        pose_stamped="{retract_pose}"
         position_xyz="0;0;-0.1"
       />
       <Action
diff --git a/src/lab_sim/objectives/place_object.xml b/src/lab_sim/objectives/place_object.xml
index 12949c19a..55d3580d2 100644
--- a/src/lab_sim/objectives/place_object.xml
+++ b/src/lab_sim/objectives/place_object.xml
@@ -10,15 +10,15 @@
       <Control ID="Sequence">
         <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           orientation_xyzw="0;1;0;0"
           position_xyz="0.01;.75;0.5.15"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
           reference_frame="world"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{place_poses}"
         />
       </Control>
diff --git a/src/lab_sim/objectives/push_button_with_a_trajectory.xml b/src/lab_sim/objectives/push_button_with_a_trajectory.xml
index 90cd2bb97..f03438ab1 100644
--- a/src/lab_sim/objectives/push_button_with_a_trajectory.xml
+++ b/src/lab_sim/objectives/push_button_with_a_trajectory.xml
@@ -25,9 +25,9 @@
       <SubTree ID="Take Wrist Camera Snapshot" _collapsed="true" />
       <!--Plan a path to move in straight line towards the button-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{target_pose}"
+        pose_stamped="{target_pose}"
         position_xyz="0;0;0.11"
       />
       <Action
diff --git a/src/lab_sim/objectives/register_cad_part.xml b/src/lab_sim/objectives/register_cad_part.xml
index 6b33e6706..09bd487ff 100644
--- a/src/lab_sim/objectives/register_cad_part.xml
+++ b/src/lab_sim/objectives/register_cad_part.xml
@@ -10,11 +10,11 @@
       <Action ID="ClearSnapshot" />
       <SubTree ID="Look at Table" _collapsed="true" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
         position_xyz="0.02;.75;0.58"
         orientation_xyzw="0;0;0;1"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         name="Initial Guess"
       />
       <Action
@@ -32,7 +32,7 @@
       <Action
         ID="TransformPointCloud"
         input_cloud="{red_cloud}"
-        transform_pose="{stamped_pose}"
+        transform_pose="{pose_stamped}"
         output_cloud="{red_cloud}"
       />
       <Action ID="SendPointCloudToUI" point_cloud="{red_cloud}" />
@@ -69,7 +69,7 @@
       <Action
         ID="TransformPointCloud"
         input_cloud="{green_cloud}"
-        transform_pose="{stamped_pose}"
+        transform_pose="{pose_stamped}"
         output_cloud="{green_cloud}"
       />
       <Action
diff --git a/src/lab_sim/objectives/register_cad_part_subtree.xml b/src/lab_sim/objectives/register_cad_part_subtree.xml
index cdb43a48f..c389c2817 100644
--- a/src/lab_sim/objectives/register_cad_part_subtree.xml
+++ b/src/lab_sim/objectives/register_cad_part_subtree.xml
@@ -10,10 +10,10 @@
       <Action ID="ClearSnapshot" />
       <SubTree ID="Look at Table" _collapsed="true" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         position_xyz="0.2;0.75;0.6"
         orientation_xyzw="0;0;0;1"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         name="Initial Guess"
         reference_frame="world"
       />
@@ -32,7 +32,7 @@
       <Action
         ID="TransformPointCloud"
         input_cloud="{red_cloud}"
-        transform_pose="{stamped_pose}"
+        transform_pose="{pose_stamped}"
         output_cloud="{red_cloud}"
       />
       <Action
@@ -81,7 +81,7 @@
       <Action
         ID="TransformPointCloud"
         input_cloud="{green_cloud}"
-        transform_pose="{stamped_pose}"
+        transform_pose="{pose_stamped}"
         output_cloud="{green_cloud}"
       />
       <Action
@@ -98,7 +98,7 @@
       <!--Transform the output pose from RegisterPointClouds to be usable for grasp planning-->
       <Action
         ID="TransformPoseWithPose"
-        input_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
         output_pose="{grasp_pose}"
         transform_pose="{target_pose}"
         name="Take the transform_pose from RegisterPointClouds and apply it on top of the initial guess to put it in the world frame"
diff --git a/src/lab_sim/objectives/scan_scene_-_multiple_point_clouds.xml b/src/lab_sim/objectives/scan_scene_-_multiple_point_clouds.xml
index 0f29542cc..e337720f7 100644
--- a/src/lab_sim/objectives/scan_scene_-_multiple_point_clouds.xml
+++ b/src/lab_sim/objectives/scan_scene_-_multiple_point_clouds.xml
@@ -29,9 +29,9 @@
       <!--Cartesian move right from center and capture-->
       <Action ID="ResetPoseStampedVector" vector="{cartesian_path}" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{offset_pose}"
+        pose_stamped="{offset_pose}"
         position_xyz="0.80;0;0"
       />
       <Action
@@ -64,9 +64,9 @@
       <!--Cartesian move from right directly to left and capture-->
       <Action ID="ResetPoseStampedVector" vector="{cartesian_path}" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="grasp_link"
-        stamped_pose="{offset_pose}"
+        pose_stamped="{offset_pose}"
         position_xyz="-1.60;0;0"
       />
       <Action
diff --git a/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml b/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml
index e2e539bf7..32adc0058 100644
--- a/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml
+++ b/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml
@@ -16,10 +16,10 @@
       <Action ID="Script" code="cloud_count := 0" />
       <!--Create inspection viewpoints around target area-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="0.5;0.3;0.5"
-        stamped_pose="{pose1}"
+        pose_stamped="{pose1}"
         reference_frame="world"
       />
       <Action
@@ -28,10 +28,10 @@
         input="{pose1}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="0.6;0.4;0.5"
-        stamped_pose="{pose2}"
+        pose_stamped="{pose2}"
         reference_frame="world"
       />
       <Action
@@ -40,10 +40,10 @@
         input="{pose2}"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         orientation_xyzw="0;-1;0;0"
         position_xyz="0.4;0.5;0.5"
-        stamped_pose="{pose3}"
+        pose_stamped="{pose3}"
         reference_frame="world"
       />
       <Action
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
index 8659a29cc..10a360d89 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
@@ -14,51 +14,51 @@
           activate_controllers="joint_trajectory_admittance_controller"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;-0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;-0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
       </Control>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
index b2db98acb..1e3fedfbb 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
@@ -43,11 +43,11 @@
               input_pose="{tag_pose_world}"
               translation_xyz="0.104533 ;-0.104463;-0.132927"
               quaternion_xyzw="0.0;0.0;1.0;0.0"
-              output_pose="{object_stamped_pose_estimate}"
+              output_pose="{object_pose_stamped_estimate}"
             />
             <Action
               ID="PublishStaticFrame"
-              pose="{object_stamped_pose_estimate}"
+              pose="{object_pose_stamped_estimate}"
               child_frame_id="object_frame"
               publish_rate="5"
             />
@@ -69,7 +69,7 @@
             <Decorator ID="Timeout" msec="1000">
               <Action
                 ID="PublishStaticFrame"
-                pose="{object_stamped_pose_estimate}"
+                pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
               />
@@ -115,7 +115,7 @@
             <Decorator ID="Timeout" msec="100">
               <Action
                 ID="PublishStaticFrame"
-                pose="{object_stamped_pose_estimate}"
+                pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
               />
@@ -129,7 +129,7 @@
           />
           <Action
             ID="TransformPoseWithPose"
-            input_pose="{object_stamped_pose_estimate}"
+            input_pose="{object_pose_stamped_estimate}"
             transform_pose="{model_to_real_pose}"
             output_pose="{model_world}"
           />
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
index b1a927a83..c2503638a 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
@@ -43,11 +43,11 @@
               input_pose="{tag_pose_world}"
               translation_xyz="0.104533 ;-0.104463;-0.132927"
               quaternion_xyzw="0.0;0.0;1.0;0.0"
-              output_pose="{object_stamped_pose_estimate}"
+              output_pose="{object_pose_stamped_estimate}"
             />
             <Action
               ID="PublishStaticFrame"
-              pose="{object_stamped_pose_estimate}"
+              pose="{object_pose_stamped_estimate}"
               child_frame_id="object_frame"
               publish_rate="5"
             />
@@ -69,7 +69,7 @@
             <Decorator ID="Timeout" msec="1000">
               <Action
                 ID="PublishStaticFrame"
-                pose="{object_stamped_pose_estimate}"
+                pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
               />
@@ -115,7 +115,7 @@
             <Decorator ID="Timeout" msec="100">
               <Action
                 ID="PublishStaticFrame"
-                pose="{object_stamped_pose_estimate}"
+                pose="{object_pose_stamped_estimate}"
                 child_frame_id="object_frame"
                 publish_rate="5"
               />
@@ -129,7 +129,7 @@
           />
           <Action
             ID="TransformPoseWithPose"
-            input_pose="{object_stamped_pose_estimate}"
+            input_pose="{object_pose_stamped_estimate}"
             transform_pose="{model_to_real_pose}"
             output_pose="{model_world}"
           />
@@ -261,17 +261,17 @@
         timeout="-1.0"
       />
       <Action
-        ID="CreateStampedTwist"
+        ID="CreateTwistStamped"
         angular_velocity_xyz="0.0;0.0;0.0"
         linear_velocity_xyz="0.0;0.0;0.0"
-        stamped_twist="{desired_twist}"
+        twist_stamped="{desired_twist}"
         reference_frame="world"
       />
       <Action
-        ID="CreateStampedWrench"
+        ID="CreateWrenchStamped"
         torque_xyz="0.0;0.0;0.0"
         force_xyz="0.0;0.0;0.0"
-        stamped_wrench="{desired_wrench}"
+        wrench_stamped="{desired_wrench}"
         reference_frame="world"
       />
       <Control ID="Parallel" success_count="1" failure_count="1">
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
index 7015fd31e..d94681faf 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
@@ -19,51 +19,51 @@
           activate_controllers="joint_trajectory_admittance_controller"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;-0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;-0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
       </Control>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml
index 95a211b59..024074393 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml
@@ -14,51 +14,51 @@
           activate_controllers="joint_trajectory_admittance_controller"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;-0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;-0.1;0.5"
           orientation_xyzw="0.707;0.707;0.0;.0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
       </Control>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml
index c53551dca..7053616a3 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/velocity_force_controller_zero.xml
@@ -8,8 +8,8 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedTwist"
-        stamped_twist="{desired_twist}"
+        ID="CreateTwistStamped"
+        twist_stamped="{desired_twist}"
         angular_velocity_xyz="0.0;0.0;0.0"
         linear_velocity_xyz="0.0;0.0;0.0"
       />
@@ -18,10 +18,10 @@
         activate_controllers="velocity_force_controller"
       />
       <Action
-        ID="CreateStampedWrench"
+        ID="CreateWrenchStamped"
         torque_xyz="0.0;0.0;0.0"
         force_xyz="0.0;0.0;0.0"
-        stamped_wrench="{desired_wrench}"
+        wrench_stamped="{desired_wrench}"
       />
       <Decorator ID="KeepRunningUntilFailure">
         <Action
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
index a4ae92e46..64bdb6f54 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
@@ -10,16 +10,16 @@
     <Control ID="Sequence">
       <SubTree ID="Move to Waypoint" _collapsed="true" waypoint_name="Home" />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="base_link"
         position_xyz="0.4;0.5;0.09"
         orientation_xyzw="0.7073883;-0.7068252;0.0000327;0.0000328"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
       />
       <Control ID="Parallel" success_count="1" failure_count="1">
         <Action
           ID="PublishStaticFrame"
-          pose="{stamped_pose}"
+          pose="{pose_stamped}"
           child_frame_id="local"
           publish_rate="50"
         />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_via_fiducial_tracking.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_via_fiducial_tracking.xml
index 086d73b31..dbcbced13 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_via_fiducial_tracking.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim/objectives/grapple_moving_satellite_via_fiducial_tracking.xml
@@ -27,27 +27,27 @@
         timeout="-1.000000"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{target_pose_offset}"
+        ID="CreatePoseStamped"
+        pose_stamped="{target_pose_offset}"
         orientation_xyzw="-0.7071068;0.7071068;0;0"
         position_xyz="0.0;0.0;0.2"
         reference_frame="world"
         name="target pose offset"
       />
       <Action
-        ID="CreateStampedWrench"
+        ID="CreateWrenchStamped"
         torque_xyz="0.0;0.0;0.0"
         force_xyz="0.0;0.0;0.0"
-        stamped_wrench="{desired_wrench}"
+        wrench_stamped="{desired_wrench}"
         name="Always 0, not using Force"
         reference_frame="world"
       />
       <Action
-        ID="CreateStampedTwist"
+        ID="CreateTwistStamped"
         name="Init 0 Pose (until FF-VFC outputs)"
         angular_velocity_xyz="0;0;0"
         linear_velocity_xyz="0;0;0"
-        stamped_twist="{desired_twist}"
+        twist_stamped="{desired_twist}"
         reference_frame="world"
       />
       <Action
@@ -147,9 +147,9 @@
             breakpoint_topic="/moveit_pro_breakpoint"
           />
           <Action
-            ID="CreateStampedPose"
+            ID="CreatePoseStamped"
             reference_frame="world"
-            stamped_pose="{target_pose_offset}"
+            pose_stamped="{target_pose_offset}"
             orientation_xyzw="-0.7071068;0.7071068;0;0"
             position_xyz="0;0;0.085"
           />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml
index b204d4d69..63041b3fc 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml
@@ -77,8 +77,8 @@
         target_frame_id="{camera_optical_frame}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{current_mounting_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{current_mounting_pose}"
         name="camera current_mounting_pose"
         reference_frame="{camera_mounting_frame}"
       />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_tag_tfs.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_tag_tfs.xml
index f87c0174d..805b684bc 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_tag_tfs.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_tag_tfs.xml
@@ -73,8 +73,8 @@
         target_frame_id="{camera_optical_frame}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{current_mounting_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{current_mounting_pose}"
         name="camera current_mounting_pose"
         reference_frame="{camera_mounting_frame}"
       />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/get_pose_from_tf_frame.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/get_pose_from_tf_frame.xml
index e8f78baeb..947c80686 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/get_pose_from_tf_frame.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/get_pose_from_tf_frame.xml
@@ -7,13 +7,13 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="{pose_frame}"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
         output_pose="{tf_pose}"
         target_frame_id="{reference_frame}"
       />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/visualize_tf.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/visualize_tf.xml
index 5417b8103..074b5b337 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/visualize_tf.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/visualize_tf.xml
@@ -5,21 +5,21 @@
     <Control ID="Sequence">
       <Decorator ID="Repeat" num_cycles="10">
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="{tf_frame_name}"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
       </Decorator>
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="world"
       />
       <Action
         ID="VisualizePose"
         name=""
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
         marker_lifetime="{marker_lifetime}"
         marker_name="{marker_name}"
         marker_size="{marker_size}"
diff --git a/src/moveit_pro_ur_configs/mock_sim/objectives/move_along_path.xml b/src/moveit_pro_ur_configs/mock_sim/objectives/move_along_path.xml
index 50f95bf37..c4e9bfc09 100644
--- a/src/moveit_pro_ur_configs/mock_sim/objectives/move_along_path.xml
+++ b/src/moveit_pro_ur_configs/mock_sim/objectives/move_along_path.xml
@@ -11,63 +11,63 @@
       <!--First manually create an example Cartesian reference trajectory to then feed into the planner-->
       <Control ID="Sequence">
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="-0.4;0.4;-0.0"
           orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.4;0.4;-0.0"
           orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.4;0.8;0.0"
           orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="-0.4;0.8;0.0"
           orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="-0.4;0.4;-0.0"
           orientation_xyzw="0.0;1.0;0.0;0.0"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
       </Control>
diff --git a/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_path_ik_example.xml b/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_path_ik_example.xml
index 93712cd73..0fa2d001b 100644
--- a/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_path_ik_example.xml
+++ b/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_path_ik_example.xml
@@ -10,56 +10,56 @@
       <SubTree ID="Multi-tip Pose IK Example" _collapsed="true" />
       <Control ID="Sequence">
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="third_grasp_link"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="third_grasp_link"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
           position_xyz="0.2;0.0;0"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="third_grasp_link"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
           position_xyz="0.2;0.0;-0.1"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="third_grasp_link"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
           position_xyz="0.0;0.0;-0.1"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="third_grasp_link"
-          stamped_pose="{stamped_pose}"
+          pose_stamped="{pose_stamped}"
         />
         <Action
           ID="AddPoseStampedToVector"
-          input="{stamped_pose}"
+          input="{pose_stamped}"
           vector="{pose_stamped_vector}"
         />
       </Control>
diff --git a/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_pose_ik_example.xml b/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_pose_ik_example.xml
index 94e3bba6d..6797ea71b 100644
--- a/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_pose_ik_example.xml
+++ b/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_pose_ik_example.xml
@@ -11,9 +11,9 @@
       />
       <!--Create the target poses into a vector-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{target}"
+        pose_stamped="{target}"
         position_xyz="-0.4;0.2;0.2"
         orientation_xyzw="0.7071068;-0.7071068;0;0"
       />