diff --git a/src/prpy/planning/adapters.py b/src/prpy/planning/adapters.py
index 54af745..a39ce09 100644
--- a/src/prpy/planning/adapters.py
+++ b/src/prpy/planning/adapters.py
@@ -74,7 +74,7 @@ def CreateTSRChains(cls, robot, direction, distance):
             T0_w=numpy.dot(H_world_w, Hw_end),
             Tw_e=H_w_ee,
             Bw=numpy.zeros((6, 2)),
-            manip=manip_index))
+            manipindex=manip_index))
         constraint_chain = TSRChain(constrain=True, TSR=TSR(
             T0_w=H_world_w,
             Tw_e=H_w_ee,
@@ -85,6 +85,6 @@ def CreateTSRChains(cls, robot, direction, distance):
                 [-cls.epsilon, cls.epsilon],
                 [-cls.epsilon, cls.epsilon],
                 [-cls.epsilon, cls.epsilon]]),
-            manip=manip_index))
+            manipindex=manip_index))
 
         return [goal_chain, constraint_chain]
diff --git a/src/prpy/planning/cbirrt.py b/src/prpy/planning/cbirrt.py
index 263f035..5076ec0 100644
--- a/src/prpy/planning/cbirrt.py
+++ b/src/prpy/planning/cbirrt.py
@@ -104,7 +104,7 @@ def PlanToEndEffectorPose(self, robot, goal_pose, **kw_args):
         @return traj output path
         """
         manipulator_index = robot.GetActiveManipulatorIndex()
-        goal_tsr = TSR(T0_w=goal_pose, manip=manipulator_index)
+        goal_tsr = TSR(T0_w=goal_pose, manipindex=manipulator_index)
         tsr_chain = TSRChain(sample_goal=True, TSR=goal_tsr)
 
         kw_args.setdefault('psample', 0.1)