diff --git a/example/config/implementation.yaml b/example/config/implementation.yaml
index 11a3f38..4cd1ba9 100644
--- a/example/config/implementation.yaml
+++ b/example/config/implementation.yaml
@@ -12,7 +12,8 @@ admittance_controller:
       "happy"
 
     elbow_joint:
-      weight: 2.0
+      x:
+        weight: 2.0
 
     pid:
       shoulder_pan_joint:
diff --git a/example/src/parameters.yaml b/example/src/parameters.yaml
index e0f51fa..31e7e61 100644
--- a/example/src/parameters.yaml
+++ b/example/src/parameters.yaml
@@ -25,14 +25,15 @@ admittance_controller:
   }
 
   __map_joints:
-    weight: {
-      type: double,
-      default_value: 1.0,
-      description: "map parameter without struct name",
-      validation: {
-        gt<>: [0.0],
+    __map_dof_names:
+      weight: {
+        type: double,
+        default_value: 1.0,
+        description: "map parameter without struct name",
+        validation: {
+          gt<>: [0.0],
+        }
       }
-    }
 
   nested_dynamic:
     __map_joints:
diff --git a/example_python/config/implementation.yaml b/example_python/config/implementation.yaml
index 11a3f38..4cd1ba9 100644
--- a/example_python/config/implementation.yaml
+++ b/example_python/config/implementation.yaml
@@ -12,7 +12,8 @@ admittance_controller:
       "happy"
 
     elbow_joint:
-      weight: 2.0
+      x:
+        weight: 2.0
 
     pid:
       shoulder_pan_joint:
diff --git a/example_python/generate_parameter_module_example/parameters.yaml b/example_python/generate_parameter_module_example/parameters.yaml
index 3cff6d5..1440e58 100644
--- a/example_python/generate_parameter_module_example/parameters.yaml
+++ b/example_python/generate_parameter_module_example/parameters.yaml
@@ -33,14 +33,15 @@ admittance_controller:
   }
 
   __map_joints:
-    weight: {
-      type: double,
-      default_value: 1.0,
-      description: "map parameter without struct name",
-      validation: {
-        gt<>: [0.0],
+    __map_dof_names:
+      weight: {
+        type: double,
+        default_value: 1.0,
+        description: "map parameter without struct name",
+        validation: {
+          gt<>: [0.0],
+        }
       }
-    }
 
   nested_dynamic:
     __map_joints:
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
index 11f1d01..244e595 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
@@ -5,7 +5,7 @@ for (const auto & value_{{loop.index}} : updated_params.{{mapped_param}}) {
 {% if struct_name != "" %}
 auto& entry = {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %};
 {% else %}
-auto& entry = {{param_struct_instance}}.{% for map in parameter_map%}{{map}}[value_{{loop.index}}]{% endfor %};
+auto& entry = {{param_struct_instance}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %};
 {% endif -%}
 std::string value = fmt::format("{%- for mapped_param in mapped_params -%}{% if loop.index == 1 %}{}{% else %}.{}{% endif -%} {%- endfor -%}",
 {%- for mapped_param in mapped_params -%}{% if loop.index == 1 %} value_{{loop.index}}{% else %}, value_{{loop.index}}{% endif -%} {%- endfor %});
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/update_runtime_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/update_runtime_parameter
index bdd59ad..b4cd4e3 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/update_runtime_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/update_runtime_parameter
@@ -17,7 +17,7 @@ if (param.get_name() == param_name) {
 {% if struct_name != "" %}
 updated_params.{{struct_name}}{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
 {% else %}
-updated_params.{% for map in parameter_map%}{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
+updated_params{% for map in parameter_map%}.{{map}}[value_{{loop.index}}]{% endfor %}.{{parameter_field}} = param.{{parameter_as_function}};
 {% endif -%}
 RCLCPP_DEBUG_STREAM(logger_, param.get_name() << ": " << param.get_type_name() << " = " << param.value_to_string());
 {% endfilter -%}
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
index 0f7b4c8..96c48f7 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
@@ -7,11 +7,11 @@ for value_{{loop.index}} in updated_params.{{mapped_param}}:
 {% if struct_name != "" %}
 {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.add_entry(value_{{loop.index}}){% endfor %}
 entry = {{param_struct_instance}}.{{struct_name}}{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}
-param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}.{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+param_name = f"{self.prefix_}{{struct_name}}.{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
 {% else %}
 {{param_struct_instance}}{% for map in parameter_map%}.add_entry(value_{{loop.index}}){% endfor %}
 entry = {{param_struct_instance}}{% for map in parameter_map%}.get_entry(value_{{loop.index}}){% endfor %}
-param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
 {% endif -%}
 if not self.node_.has_parameter(self.prefix_ + param_name):
 {%- filter indent(width=4) %}
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/update_runtime_parameter b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/update_runtime_parameter
index 30f34e7..195fb78 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/update_runtime_parameter
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/update_runtime_parameter
@@ -4,7 +4,11 @@ for value_{{loop.index}} in updated_params.{{mapped_param}}:
 {%- endfilter -%}
 {% endfor -%}
 {%- filter indent(width=4*(1+mapped_params|length)) %}
-param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}.{value_{{loop.index}}}{% endfor %}.{{parameter_field}}"
+{% if struct_name != "" %}
+param_name = f"{self.prefix_}{{struct_name}}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% else %}
+param_name = f"{self.prefix_}{% for map in parameter_map%}{value_{{loop.index}}}.{% endfor %}{{parameter_field}}"
+{% endif -%}
 if param.name == param_name:
 {%- filter indent(width=4) %}
 {% if parameter_validations|length -%}