diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6258aa10d6..7e27bd81ff 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
 set (OPENRAVE_VERSION_MINOR 136)
-set (OPENRAVE_VERSION_PATCH 0)
+set (OPENRAVE_VERSION_PATCH 1)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
 message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")
diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 7e962a2b57..dc96424a21 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -6,6 +6,11 @@ ChangeLog
 Unreleased
 ==========
 
+Version 0.136.1
+===============
+
+* Support reading of `grippername` under `manipulator` from XML files.
+
 Version 0.136.0
 ===============
 
diff --git a/plugins/configurationcache/configurationjitterer.cpp b/plugins/configurationcache/configurationjitterer.cpp
index ade223b741..6ad2999839 100644
--- a/plugins/configurationcache/configurationjitterer.cpp
+++ b/plugins/configurationcache/configurationjitterer.cpp
@@ -75,8 +75,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
         _vActiveIndices = _probot->GetActiveDOFIndices();
         _nActiveAffineDOFs = _probot->GetAffineDOF();
         _vActiveAffineAxis = _probot->GetAffineRotationAxis();
+        _vLinks.reserve(_probot->GetLinks().size());
         if( _nActiveAffineDOFs == 0 ) {
             for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
+                if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
                 for (int dofindex : _vActiveIndices) {
                     if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
                         _vLinks.push_back(_probot->GetLinks()[ilink]);
@@ -86,7 +91,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
             }
         }
         else {
-            _vLinks = _probot->GetLinks();
+            for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
+                if( plink->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
+                _vLinks.push_back(plink);
+            }
         }
         _vLinkAABBs.resize(_vLinks.size());
         for(size_t i = 0; i < _vLinks.size(); ++i) {
@@ -970,9 +981,14 @@ By default will sample the robot's active DOFs. Parameters part of the interface
         vector<KinBodyPtr> vgrabbedbodies;
         _probot->GetGrabbed(vgrabbedbodies);
         // robot itself might have changed?
+        _vLinks.resize(0);
+        _vLinks.reserve(_probot->GetLinks().size());
         if( _nActiveAffineDOFs == 0 ) {
-            _vLinks.clear();
             for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
+                if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
                 for (int dofindex : _vActiveIndices) {
                     if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
                         _vLinks.push_back(_probot->GetLinks()[ilink]);
@@ -982,7 +998,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
             }
         }
         else {
-            _vLinks = _probot->GetLinks();
+            for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
+                if( plink->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
+                _vLinks.push_back(plink);
+            }
         }
         FOREACHC(itgrabbed, vgrabbedbodies) {
             FOREACHC(itlink2, (*itgrabbed)->GetLinks()) {
diff --git a/plugins/configurationcache/workspaceconfigurationjitterer.cpp b/plugins/configurationcache/workspaceconfigurationjitterer.cpp
index 06a5c05946..e1b9a38240 100644
--- a/plugins/configurationcache/workspaceconfigurationjitterer.cpp
+++ b/plugins/configurationcache/workspaceconfigurationjitterer.cpp
@@ -75,8 +75,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
         _vActiveIndices = _probot->GetActiveDOFIndices();
         _nActiveAffineDOFs = _probot->GetAffineDOF();
         _vActiveAffineAxis = _probot->GetAffineRotationAxis();
+        _vLinks.reserve(_probot->GetLinks().size());
         if( _nActiveAffineDOFs == 0 ) {
             for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
+                if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
                 for (int dofindex : _vActiveIndices) {
                     if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
                         _vLinks.push_back(_probot->GetLinks()[ilink]);
@@ -86,7 +91,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
             }
         }
         else {
-            _vLinks = _probot->GetLinks();
+            for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
+                if( plink->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
+                _vLinks.push_back(plink);
+            }
         }
         _vLinkAABBs.resize(_vLinks.size());
         for(size_t i = 0; i < _vLinks.size(); ++i) {
@@ -939,9 +950,14 @@ By default will sample the robot's active DOFs. Parameters part of the interface
         vector<KinBodyPtr> vgrabbedbodies;
         _probot->GetGrabbed(vgrabbedbodies);
         // robot itself might have changed?
+        _vLinks.resize(0);
+        _vLinks.reserve(_probot->GetLinks().size());
         if( _nActiveAffineDOFs == 0 ) {
-            _vLinks.clear();
             for (size_t ilink = 0; ilink < _probot->GetLinks().size(); ++ilink) {
+                if( _probot->GetLinks()[ilink]->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
                 for(int dofindex : _vActiveIndices) {
                     if( _probot->DoesAffect(_probot->GetJointFromDOFIndex(dofindex)->GetJointIndex(), ilink)) {
                         _vLinks.push_back(_probot->GetLinks()[ilink]);
@@ -951,7 +967,13 @@ By default will sample the robot's active DOFs. Parameters part of the interface
             }
         }
         else {
-            _vLinks = _probot->GetLinks();
+            for (const KinBody::LinkPtr& plink: _probot->GetLinks()) {
+                if( plink->GetGeometries().empty() ) {
+                    // Links that don't have geometries (virtual links) don't matter for jittering. Their AABBs can interfere with the results.
+                    continue;
+                }
+                _vLinks.push_back(plink);
+            }
         }
         FOREACHC(itgrabbed, vgrabbedbodies) {
             FOREACHC(itlink2, (*itgrabbed)->GetLinks()) {
diff --git a/src/libopenrave-core/xmlreaders-core.cpp b/src/libopenrave-core/xmlreaders-core.cpp
index e48704e9a1..cf2a34904f 100644
--- a/src/libopenrave-core/xmlreaders-core.cpp
+++ b/src/libopenrave-core/xmlreaders-core.cpp
@@ -2542,7 +2542,7 @@ class ManipulatorXMLReader : public StreamXMLReader
         if( _processingtag.size() > 0 ) {
             return PE_Ignore;
         }
-        if (( xmlname == "effector") ||( xmlname == "gripperjoints") ||( xmlname == "joints") ||( xmlname == "armjoints") ||( xmlname == "base") ||( xmlname == "iksolver") ||( xmlname == "closingdir") ||( xmlname == "palmdirection") ||( xmlname=="direction") ||( xmlname == "closingdirection") ||( xmlname == "translation") ||( xmlname == "quat") ||( xmlname == "rotationaxis") ||( xmlname == "rotationmat") || xmlname == "chuckingdirection") {
+        if (( xmlname == "effector") ||( xmlname == "gripperjoints") ||( xmlname == "joints") ||( xmlname == "armjoints") ||( xmlname == "base") ||( xmlname == "iksolver") ||( xmlname == "closingdir") ||( xmlname == "palmdirection") ||( xmlname=="direction") ||( xmlname == "closingdirection") ||( xmlname == "translation") ||( xmlname == "quat") ||( xmlname == "rotationaxis") ||( xmlname == "rotationmat") || xmlname == "chuckingdirection" || (xmlname == "grippername") ) {
             _processingtag = xmlname;
             return PE_Support;
         }
@@ -2583,6 +2583,9 @@ class ManipulatorXMLReader : public StreamXMLReader
         else if((xmlname == "joints")||(xmlname == "gripperjoints")) {
             _manipinfo._vGripperJointNames = vector<string>((istream_iterator<string>(_ss)), istream_iterator<string>());
         }
+        else if( xmlname == "grippername" ) {
+            _ss >> _manipinfo._grippername;
+        }
         else if( xmlname == "armjoints" ) {
             RAVELOG_WARN("<armjoints> for <manipulator> tag is not used anymore\n");
         }
@@ -3504,7 +3507,7 @@ class EnvironmentXMLReader : public StreamXMLReader
             _ss >> pluginname;
             RaveLoadPlugin(pluginname);
         }
-        else if(xmlname == "unit"){
+        else if(xmlname == "unit") {
             std::pair<std::string, dReal> unit;
             _ss >> unit.first >> unit.second;
             UnitInfo unitInfo = _penv->GetUnitInfo();