diff --git a/pose_frame_semantics/proposal.md b/pose_frame_semantics/proposal.md
index ebf64c6..8ba1c1c 100644
--- a/pose_frame_semantics/proposal.md
+++ b/pose_frame_semantics/proposal.md
@@ -736,11 +736,11 @@ the implicit world frame.
     <pose relative_to="cycle0">{X_C0C0}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
   </link>
 
-  <link name="cycle1">
-    <pose relative_to="cycle2">{X_C1C2}</pose>
+  <link name="C1">
+    <pose relative_to="C2">{X_C1C2}</pose>
   </link>
-  <link name="cycle2">
-    <pose relative_to="cycle1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
+  <link name="C2">
+    <pose relative_to="C1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
   </link>
 </model>
 ~~~
@@ -770,12 +770,12 @@ the implicit world frame.
     <link name="L"/>
   </model>
 
-  <model name="cycle1">
-    <pose relative_to="cycle2">{X_C1C2}</pose>
+  <model name="C1">
+    <pose relative_to="C2">{X_C1C2}</pose>
     <link name="L"/>
   </model>
-  <model name="cycle2">
-    <pose relative_to="cycle1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
+  <model name="C2">
+    <pose relative_to="C1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
     <link name="L"/>
   </model>
 </model>
@@ -840,11 +840,11 @@ the implicit world frame.
     <pose relative_to="cycle0">{X_C0C0}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
   </frame>
 
-  <frame name="cycle1">
-    <pose relative_to="cycle2">{X_C1C2}</pose>
+  <frame name="C1">
+    <pose relative_to="C2">{X_C1C2}</pose>
   </frame>
-  <frame name="cycle2">
-    <pose relative_to="cycle1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
+  <frame name="C2">
+    <pose relative_to="C1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
   </frame>
 </model>
 ~~~
@@ -925,11 +925,11 @@ the implicit world frame.
     <pose relative_to="cycle0">{X_C0C0}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to world frame. -->
   </frame>
 
-  <frame name="cycle1">
-    <pose relative_to="cycle2">{X_C1C2}</pose>
+  <frame name="C1">
+    <pose relative_to="C2">{X_C1C2}</pose>
   </frame>
-  <frame name="cycle2">
-    <pose relative_to="cycle1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to world frame. -->
+  <frame name="C2">
+    <pose relative_to="C1">{X_C2C1}</pose>  <!-- INVALID: cycle in relative_to graph does not lead to world frame. -->
   </frame>
 </model>
 ~~~