From a5eef1c114ee440e788eb665247e86745f19e639 Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Thu, 18 Jan 2018 18:34:34 +0900
Subject: [PATCH] Refactor moveit config and launch

---
 jsk_arc2017_baxter/launch/setup/baxter.launch |   2 +-
 .../launch/setup/baxterlgv7.launch            |   2 +-
 .../baxterlgv7_planning_context.launch        |  25 --
 .../{ => moveit/baxter}/baxter_moveit.launch  |   6 +-
 .../baxter_trajectory_execution.launch.xml}   |   5 +-
 .../baxterlgv7}/baxterlgv7_moveit.launch      |   6 +-
 ...baxterlgv7_trajectory_execution.launch.xml |  19 ++
 .../{ => moveit/common}/move_group.launch     |   8 +-
 .../moveit_controller_manager.launch.xml}     |   4 +-
 .../common}/ompl_planning_pipeline.launch     |   2 +-
 .../common}/planning_context.launch           |   9 +-
 .../{ => baxter}/baxter.srdf.xacro            |   6 +-
 .../{ => baxter}/baxter_base.srdf.xacro       |   0
 .../controllers.yaml}                         |   0
 .../{ => baxter}/joint_limits.yaml            |   0
 .../{ => baxterlgv7}/baxterlgv7.srdf.xacro    |  10 +-
 .../baxterlgv7/baxterlgv7_base.srdf.xacro     | 287 ++++++++++++++++++
 .../moveit_config/baxterlgv7/controllers.yaml |  39 +++
 .../joint_limits.yaml}                        |   0
 .../{ => common}/gripper_v6.srdf.xacro        |   0
 .../{ => common}/gripper_v7.srdf.xacro        |   0
 .../{ => common}/ompl_planning.yaml           |   0
 22 files changed, 381 insertions(+), 49 deletions(-)
 delete mode 100644 jsk_arc2017_baxter/launch/setup/include/baxterlgv7_planning_context.launch
 rename jsk_arc2017_baxter/launch/setup/include/{ => moveit/baxter}/baxter_moveit.launch (82%)
 rename jsk_arc2017_baxter/launch/setup/include/{trajectory_execution.launch.xml => moveit/baxter/baxter_trajectory_execution.launch.xml} (88%)
 rename jsk_arc2017_baxter/launch/setup/include/{ => moveit/baxterlgv7}/baxterlgv7_moveit.launch (81%)
 create mode 100644 jsk_arc2017_baxter/launch/setup/include/moveit/baxterlgv7/baxterlgv7_trajectory_execution.launch.xml
 rename jsk_arc2017_baxter/launch/setup/include/{ => moveit/common}/move_group.launch (90%)
 rename jsk_arc2017_baxter/launch/setup/include/{baxter_moveit_controller_manager.launch.xml => moveit/common/moveit_controller_manager.launch.xml} (93%)
 rename jsk_arc2017_baxter/launch/setup/include/{ => moveit/common}/ompl_planning_pipeline.launch (95%)
 rename jsk_arc2017_baxter/launch/setup/include/{ => moveit/common}/planning_context.launch (84%)
 rename jsk_arc2017_baxter/robots/moveit_config/{ => baxter}/baxter.srdf.xacro (83%)
 rename jsk_arc2017_baxter/robots/moveit_config/{ => baxter}/baxter_base.srdf.xacro (100%)
 rename jsk_arc2017_baxter/robots/moveit_config/{baxter_controllers.yaml => baxter/controllers.yaml} (100%)
 rename jsk_arc2017_baxter/robots/moveit_config/{ => baxter}/joint_limits.yaml (100%)
 rename jsk_arc2017_baxter/robots/moveit_config/{ => baxterlgv7}/baxterlgv7.srdf.xacro (62%)
 create mode 100644 jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/baxterlgv7_base.srdf.xacro
 create mode 100644 jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/controllers.yaml
 rename jsk_arc2017_baxter/robots/moveit_config/{baxterlgv7_joint_limits.yaml => baxterlgv7/joint_limits.yaml} (100%)
 rename jsk_arc2017_baxter/robots/moveit_config/{ => common}/gripper_v6.srdf.xacro (100%)
 rename jsk_arc2017_baxter/robots/moveit_config/{ => common}/gripper_v7.srdf.xacro (100%)
 rename jsk_arc2017_baxter/robots/moveit_config/{ => common}/ompl_planning.yaml (100%)

diff --git a/jsk_arc2017_baxter/launch/setup/baxter.launch b/jsk_arc2017_baxter/launch/setup/baxter.launch
index 0aef7b4d8..405e99ef9 100644
--- a/jsk_arc2017_baxter/launch/setup/baxter.launch
+++ b/jsk_arc2017_baxter/launch/setup/baxter.launch
@@ -58,7 +58,7 @@
         pkg="jsk_baxter_startup" type="xdisplay_image_topic.py"
         args="/desktop_bg_publisher/output" />
 
-  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/baxter_moveit.launch" if="$(arg moveit)">
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/baxter/baxter_moveit.launch" if="$(arg moveit)">
     <arg name="load_robot_description" value="false" />
     <arg name="debug" value="$(arg debug)" />
   </include>
diff --git a/jsk_arc2017_baxter/launch/setup/baxterlgv7.launch b/jsk_arc2017_baxter/launch/setup/baxterlgv7.launch
index dd108d679..b226098eb 100644
--- a/jsk_arc2017_baxter/launch/setup/baxterlgv7.launch
+++ b/jsk_arc2017_baxter/launch/setup/baxterlgv7.launch
@@ -58,7 +58,7 @@
         pkg="jsk_baxter_startup" type="xdisplay_image_topic.py"
         args="/desktop_bg_publisher/output" />
 
-  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/baxterlgv7_moveit.launch" if="$(arg moveit)">
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/baxterlgv7/baxterlgv7_moveit.launch" if="$(arg moveit)">
     <arg name="load_robot_description" value="false" />
     <arg name="debug" value="$(arg debug)" />
   </include>
diff --git a/jsk_arc2017_baxter/launch/setup/include/baxterlgv7_planning_context.launch b/jsk_arc2017_baxter/launch/setup/include/baxterlgv7_planning_context.launch
deleted file mode 100644
index 02697aeab..000000000
--- a/jsk_arc2017_baxter/launch/setup/include/baxterlgv7_planning_context.launch
+++ /dev/null
@@ -1,25 +0,0 @@
-<launch>
-  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
-  <arg name="load_robot_description" default="false"/>
-
-  <!-- The name of the parameter under which the URDF is loaded -->
-  <arg name="robot_description" default="robot_description"/>
-
-  <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="rosrun xacro xacro --inorder $(find jsk_arc2017_baxter)/robots/baxterlgv7.xacro"/>
-
-  <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic"
-      command="rosrun xacro xacro --inorder $(find jsk_arc2017_baxter)/robots/moveit_config/baxterlgv7.srdf.xacro"/>
-
-  <!-- Load updated joint limits (override information from URDF) -->
-  <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find jsk_arc2017_baxter)/robots/moveit_config/baxterlgv7_joint_limits.yaml"/>
-  </group>
-
-  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
-  <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find baxter_moveit_config)/config/kinematics.yaml"/>
-  </group>
-
-</launch>
diff --git a/jsk_arc2017_baxter/launch/setup/include/baxter_moveit.launch b/jsk_arc2017_baxter/launch/setup/include/moveit/baxter/baxter_moveit.launch
similarity index 82%
rename from jsk_arc2017_baxter/launch/setup/include/baxter_moveit.launch
rename to jsk_arc2017_baxter/launch/setup/include/moveit/baxter/baxter_moveit.launch
index 370541c3a..a4aae0970 100644
--- a/jsk_arc2017_baxter/launch/setup/include/baxter_moveit.launch
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/baxter/baxter_moveit.launch
@@ -4,12 +4,14 @@
   <arg name="debug" default="false" />
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/planning_context.launch">
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/common/planning_context.launch">
+    <arg name="robot" value="baxter"/>
     <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/move_group.launch">
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/common/move_group.launch">
+    <arg name="robot" value="baxter"/>
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="info" value="$(arg debug)"/>
     <arg name="debug" value="$(arg debug)"/>
diff --git a/jsk_arc2017_baxter/launch/setup/include/trajectory_execution.launch.xml b/jsk_arc2017_baxter/launch/setup/include/moveit/baxter/baxter_trajectory_execution.launch.xml
similarity index 88%
rename from jsk_arc2017_baxter/launch/setup/include/trajectory_execution.launch.xml
rename to jsk_arc2017_baxter/launch/setup/include/moveit/baxter/baxter_trajectory_execution.launch.xml
index 768042991..20f3ea8d8 100644
--- a/jsk_arc2017_baxter/launch/setup/include/trajectory_execution.launch.xml
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/baxter/baxter_trajectory_execution.launch.xml
@@ -13,6 +13,7 @@
 
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="baxter" />
-  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
-
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/common/moveit_controller_manager.launch.xml">
+    <arg name="robot" value="$(arg moveit_controller_manager)"/>
+  </include>
 </launch>
diff --git a/jsk_arc2017_baxter/launch/setup/include/baxterlgv7_moveit.launch b/jsk_arc2017_baxter/launch/setup/include/moveit/baxterlgv7/baxterlgv7_moveit.launch
similarity index 81%
rename from jsk_arc2017_baxter/launch/setup/include/baxterlgv7_moveit.launch
rename to jsk_arc2017_baxter/launch/setup/include/moveit/baxterlgv7/baxterlgv7_moveit.launch
index b5fdce759..96e490920 100644
--- a/jsk_arc2017_baxter/launch/setup/include/baxterlgv7_moveit.launch
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/baxterlgv7/baxterlgv7_moveit.launch
@@ -4,12 +4,14 @@
   <arg name="debug" default="false" />
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/baxterlgv7_planning_context.launch">
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/common/planning_context.launch">
+    <arg name="robot" value="baxterlgv7"/>
     <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/move_group.launch">
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/common/move_group.launch">
+    <arg name="robot" value="baxterlgv7"/>
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="info" value="$(arg debug)"/>
     <arg name="debug" value="$(arg debug)"/>
diff --git a/jsk_arc2017_baxter/launch/setup/include/moveit/baxterlgv7/baxterlgv7_trajectory_execution.launch.xml b/jsk_arc2017_baxter/launch/setup/include/moveit/baxterlgv7/baxterlgv7_trajectory_execution.launch.xml
new file mode 100644
index 000000000..5c92021c3
--- /dev/null
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/baxterlgv7/baxterlgv7_trajectory_execution.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="baxterlgv7" />
+  <include file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/common/moveit_controller_manager.launch.xml">
+    <arg name="robot" value="$(arg moveit_controller_manager)"/>
+  </include>
+</launch>
diff --git a/jsk_arc2017_baxter/launch/setup/include/move_group.launch b/jsk_arc2017_baxter/launch/setup/include/moveit/common/move_group.launch
similarity index 90%
rename from jsk_arc2017_baxter/launch/setup/include/move_group.launch
rename to jsk_arc2017_baxter/launch/setup/include/moveit/common/move_group.launch
index 0ed0e8416..a44fdf105 100644
--- a/jsk_arc2017_baxter/launch/setup/include/move_group.launch
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/common/move_group.launch
@@ -1,5 +1,7 @@
 <launch>
 
+  <arg name="robot" default="baxter"/>
+
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
@@ -18,12 +20,12 @@
   <arg name="publish_monitored_planning_scene" default="true"/>
 
   <!-- Planning Functionality -->
-  <include ns="move_group" file="$(find jsk_arc2017_baxter)/launch/setup/include/ompl_planning_pipeline.launch" />
+  <include ns="move_group" file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/common/ompl_planning_pipeline.launch" />
 
   <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(find jsk_arc2017_baxter)/launch/setup/include/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(find jsk_arc2017_baxter)/launch/setup/include/moveit/$(arg robot)/$(arg robot)_trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_manage_controllers" value="true" />
-    <arg name="moveit_controller_manager" value="baxter"/>
+    <arg name="moveit_controller_manager" value="$(arg robot)"/>
   </include>
 
   <!-- Start the actual move_group node/action server -->
diff --git a/jsk_arc2017_baxter/launch/setup/include/baxter_moveit_controller_manager.launch.xml b/jsk_arc2017_baxter/launch/setup/include/moveit/common/moveit_controller_manager.launch.xml
similarity index 93%
rename from jsk_arc2017_baxter/launch/setup/include/baxter_moveit_controller_manager.launch.xml
rename to jsk_arc2017_baxter/launch/setup/include/moveit/common/moveit_controller_manager.launch.xml
index 1c37b3a49..687e6952e 100644
--- a/jsk_arc2017_baxter/launch/setup/include/baxter_moveit_controller_manager.launch.xml
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/common/moveit_controller_manager.launch.xml
@@ -1,5 +1,7 @@
 <launch>
 
+  <arg name="robot" default="baxter"/>
+
   <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
   <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
   <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
@@ -16,6 +18,6 @@
   <param name="use_controller_manager" value="$(arg use_controller_manager)" />
 
   <!-- load controller_list and controller_manager_ns -->
-  <rosparam file="$(find jsk_arc2017_baxter)/robots/moveit_config/baxter_controllers.yaml"/>
+  <rosparam file="$(find jsk_arc2017_baxter)/robots/moveit_config/$(arg robot)/controllers.yaml"/>
 
 </launch>
diff --git a/jsk_arc2017_baxter/launch/setup/include/ompl_planning_pipeline.launch b/jsk_arc2017_baxter/launch/setup/include/moveit/common/ompl_planning_pipeline.launch
similarity index 95%
rename from jsk_arc2017_baxter/launch/setup/include/ompl_planning_pipeline.launch
rename to jsk_arc2017_baxter/launch/setup/include/moveit/common/ompl_planning_pipeline.launch
index 2d1572c3b..2599f13be 100644
--- a/jsk_arc2017_baxter/launch/setup/include/ompl_planning_pipeline.launch
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/common/ompl_planning_pipeline.launch
@@ -18,6 +18,6 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
   <rosparam command="load" file="$(find baxter_moveit_config)/config/kinematics.yaml"/>
-  <rosparam command="load" file="$(find jsk_arc2017_baxter)/robots/moveit_config/ompl_planning.yaml"/>
+  <rosparam command="load" file="$(find jsk_arc2017_baxter)/robots/moveit_config/common/ompl_planning.yaml"/>
 
 </launch>
diff --git a/jsk_arc2017_baxter/launch/setup/include/planning_context.launch b/jsk_arc2017_baxter/launch/setup/include/moveit/common/planning_context.launch
similarity index 84%
rename from jsk_arc2017_baxter/launch/setup/include/planning_context.launch
rename to jsk_arc2017_baxter/launch/setup/include/moveit/common/planning_context.launch
index 9be3f8442..13038240e 100644
--- a/jsk_arc2017_baxter/launch/setup/include/planning_context.launch
+++ b/jsk_arc2017_baxter/launch/setup/include/moveit/common/planning_context.launch
@@ -1,4 +1,7 @@
 <launch>
+
+  <arg name="robot" default="baxter"/>
+
   <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
   <arg name="load_robot_description" default="false"/>
 
@@ -6,15 +9,15 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="rosrun xacro xacro --inorder $(find jsk_arc2017_baxter)/robots/baxter.xacro"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="rosrun xacro xacro --inorder $(find jsk_arc2017_baxter)/robots/$(arg robot).xacro"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic"
-      command="rosrun xacro xacro --inorder $(find jsk_arc2017_baxter)/robots/moveit_config/baxter.srdf.xacro"/>
+      command="rosrun xacro xacro --inorder $(find jsk_arc2017_baxter)/robots/moveit_config/$(arg robot)/$(arg robot).srdf.xacro"/>
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find jsk_arc2017_baxter)/robots/moveit_config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find jsk_arc2017_baxter)/robots/moveit_config/$(arg robot)/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
diff --git a/jsk_arc2017_baxter/robots/moveit_config/baxter.srdf.xacro b/jsk_arc2017_baxter/robots/moveit_config/baxter/baxter.srdf.xacro
similarity index 83%
rename from jsk_arc2017_baxter/robots/moveit_config/baxter.srdf.xacro
rename to jsk_arc2017_baxter/robots/moveit_config/baxter/baxter.srdf.xacro
index 664df1b0d..ddc5a4f0c 100644
--- a/jsk_arc2017_baxter/robots/moveit_config/baxter.srdf.xacro
+++ b/jsk_arc2017_baxter/robots/moveit_config/baxter/baxter.srdf.xacro
@@ -2,12 +2,12 @@
 <robot name="baxter" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:arg name="left_tip_name" default="left_gripper_pad_with_base"/>
   <xacro:arg name="right_tip_name" default="right_gripper_pad_with_base"/>
-  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/baxter_base.srdf.xacro" />
+  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/baxter/baxter_base.srdf.xacro" />
   <xacro:baxter_base left_tip_name="$(arg left_tip_name)" right_tip_name="$(arg right_tip_name)"/>
   <!--Left End Effector Collisions-->
-  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/gripper_v6.srdf.xacro" />
+  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/common/gripper_v6.srdf.xacro" />
   <xacro:vacuum_gripper side="left"/>
   <!--Right End Effector Collisions-->
-  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/gripper_v6.srdf.xacro" />
+  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/common/gripper_v6.srdf.xacro" />
   <xacro:vacuum_gripper side="right"/>
 </robot>
diff --git a/jsk_arc2017_baxter/robots/moveit_config/baxter_base.srdf.xacro b/jsk_arc2017_baxter/robots/moveit_config/baxter/baxter_base.srdf.xacro
similarity index 100%
rename from jsk_arc2017_baxter/robots/moveit_config/baxter_base.srdf.xacro
rename to jsk_arc2017_baxter/robots/moveit_config/baxter/baxter_base.srdf.xacro
diff --git a/jsk_arc2017_baxter/robots/moveit_config/baxter_controllers.yaml b/jsk_arc2017_baxter/robots/moveit_config/baxter/controllers.yaml
similarity index 100%
rename from jsk_arc2017_baxter/robots/moveit_config/baxter_controllers.yaml
rename to jsk_arc2017_baxter/robots/moveit_config/baxter/controllers.yaml
diff --git a/jsk_arc2017_baxter/robots/moveit_config/joint_limits.yaml b/jsk_arc2017_baxter/robots/moveit_config/baxter/joint_limits.yaml
similarity index 100%
rename from jsk_arc2017_baxter/robots/moveit_config/joint_limits.yaml
rename to jsk_arc2017_baxter/robots/moveit_config/baxter/joint_limits.yaml
diff --git a/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7.srdf.xacro b/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/baxterlgv7.srdf.xacro
similarity index 62%
rename from jsk_arc2017_baxter/robots/moveit_config/baxterlgv7.srdf.xacro
rename to jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/baxterlgv7.srdf.xacro
index dd9e9b526..4ad925b24 100644
--- a/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7.srdf.xacro
+++ b/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/baxterlgv7.srdf.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0" ?>
-<robot name="baxter" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="baxterlgv7" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:arg name="left_tip_name" default="left_gripper_pad_with_base"/>
   <xacro:arg name="right_tip_name" default="right_gripper_pad_with_base"/>
-  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/baxter_base.srdf.xacro" />
-  <xacro:baxter_base left_tip_name="$(arg left_tip_name)" right_tip_name="$(arg right_tip_name)"/>
+  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/baxterlgv7/baxterlgv7_base.srdf.xacro" />
+  <xacro:baxterlgv7_base left_tip_name="$(arg left_tip_name)" right_tip_name="$(arg right_tip_name)"/>
   <!--Left End Effector Collisions-->
-  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/gripper_v7.srdf.xacro" />
+  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/common/gripper_v7.srdf.xacro" />
   <xacro:vacuum_gripper side="left"/>
   <!--Right End Effector Collisions-->
-  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/gripper_v6.srdf.xacro" />
+  <xacro:include filename="$(find jsk_arc2017_baxter)/robots/moveit_config/common/gripper_v6.srdf.xacro" />
   <xacro:vacuum_gripper side="right"/>
 </robot>
diff --git a/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/baxterlgv7_base.srdf.xacro b/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/baxterlgv7_base.srdf.xacro
new file mode 100644
index 000000000..97db61e02
--- /dev/null
+++ b/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/baxterlgv7_base.srdf.xacro
@@ -0,0 +1,287 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="baxterlgv7">
+  <xacro:macro name="baxterlgv7_base" params="left_tip_name right_tip_name">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <xacro:arg name="left_tip_name" default="left_gripper_pad_with_base"/>
+    <xacro:arg name="right_tip_name" default="right_gripper_pad_with_base"/>
+    <group name="left_arm">
+        <chain base_link="torso" tip_link="$(arg left_tip_name)" />
+    </group>
+    <group name="right_arm">
+        <chain base_link="torso" tip_link="$(arg right_tip_name)" />
+    </group>
+    <group name="both_arms">
+        <group name="right_arm" />
+        <group name="left_arm" />
+    </group>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="left_arm_eef" parent_link="$(arg left_tip_name)" group="left_arm" />
+    <end_effector name="right_arm_eef" parent_link="$(arg right_tip_name)" group="right_arm" />
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="left_neutral" group="left_arm">
+        <joint name="left_s0" value="0" />
+        <joint name="left_s1" value="-0.55" />
+        <joint name="left_e0" value="0" />
+        <joint name="left_e1" value="0.75" />
+        <joint name="left_w0" value="0" />
+        <joint name="left_w1" value="1.26" />
+        <joint name="left_w2" value="0" />
+        <joint name="left_gripper_prismatic_joint" value="0" />
+        <joint name="left_gripper_vacuum_pad_joint" value="0" />
+    </group_state>
+    <group_state name="right_neutral" group="right_arm">
+        <joint name="right_s0" value="0" />
+        <joint name="right_s1" value="-0.55" />
+        <joint name="right_e0" value="0" />
+        <joint name="right_e1" value="0.75" />
+        <joint name="right_w0" value="0" />
+        <joint name="right_w1" value="1.26" />
+        <joint name="right_w2" value="0" />
+        <joint name="right_gripper_prismatic_joint" value="0" />
+        <joint name="right_gripper_vacuum_pad_joint" value="0" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="world_joint" type="floating" parent_frame="world" child_link="torso" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="world_joint" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="display" link2="screen" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="collision_head_link_2" reason="Adjacent" />
+    <disable_collisions link1="collision_head_link_1" link2="head" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="left_lower_shoulder" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="left_upper_elbow" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="left_upper_shoulder" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="pedestal" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="screen" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="collision_head_link_1" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="collision_head_link_2" link2="head" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="left_upper_shoulder" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="pedestal" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="right_upper_elbow" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="screen" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="collision_head_link_2" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="head" link2="left_hand_camera" reason="Never" />
+    <disable_collisions link1="head" link2="left_hand_range" reason="Never" />
+    <disable_collisions link1="head" link2="left_lower_shoulder" reason="Never" />
+    <disable_collisions link1="head" link2="left_upper_elbow" reason="Never" />
+    <disable_collisions link1="head" link2="left_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="head" link2="left_upper_shoulder" reason="Never" />
+    <disable_collisions link1="head" link2="pedestal" reason="Never" />
+    <disable_collisions link1="head" link2="right_hand_camera" reason="Never" />
+    <disable_collisions link1="head" link2="right_hand_range" reason="Never" />
+    <disable_collisions link1="head" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="head" link2="right_upper_elbow" reason="Never" />
+    <disable_collisions link1="head" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="head" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="head" link2="screen" reason="Adjacent" />
+    <disable_collisions link1="head" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="head" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="left_hand" link2="left_hand_camera" reason="Adjacent" />
+    <disable_collisions link1="left_hand" link2="left_hand_range" reason="Adjacent" />
+    <disable_collisions link1="left_hand" link2="left_lower_elbow" reason="Never" />
+    <disable_collisions link1="left_hand" link2="left_lower_forearm" reason="Never" />
+    <disable_collisions link1="left_hand" link2="left_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="left_hand" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="left_hand" link2="left_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="left_hand" link2="left_wrist" reason="Adjacent" />
+    <disable_collisions link1="left_hand" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_hand" link2="left_hand_accelerometer" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_hand_range" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_lower_elbow" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_lower_forearm" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_upper_elbow" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="left_wrist" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="right_hand_camera" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="right_hand_range" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="right_lower_forearm" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="screen" reason="Never" />
+    <disable_collisions link1="left_hand_camera" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="left_lower_elbow" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="left_lower_forearm" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="left_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="left_wrist" link2="left_hand_accelerometer" reason="Never" />
+    <disable_collisions link1="left_wrist" link2="left_hand" reason="Never" />
+    <disable_collisions link1="left_wrist" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="left_wrist" link2="left_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="left_wrist" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_wrist" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="left_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="left_wrist" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="right_hand_camera" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="right_hand_range" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="screen" reason="Never" />
+    <disable_collisions link1="left_hand_range" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="left_lower_elbow" link2="left_lower_forearm" reason="Never" />
+    <disable_collisions link1="left_lower_elbow" link2="left_lower_shoulder" reason="Never" />
+    <disable_collisions link1="left_lower_elbow" link2="left_upper_elbow" reason="Adjacent" />
+    <disable_collisions link1="left_lower_elbow" link2="left_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="left_lower_elbow" link2="left_upper_forearm" reason="Adjacent" />
+    <disable_collisions link1="left_lower_elbow" link2="left_upper_forearm_visual" reason="Adjacent" />
+    <disable_collisions link1="left_lower_elbow" link2="left_wrist" reason="Never" />
+    <disable_collisions link1="left_lower_elbow" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="left_lower_elbow" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="left_lower_forearm" link2="left_lower_shoulder" reason="Never" />
+    <disable_collisions link1="left_lower_forearm" link2="left_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="left_lower_forearm" link2="left_upper_forearm" reason="Adjacent" />
+    <disable_collisions link1="left_lower_forearm" link2="left_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="left_lower_forearm" link2="left_wrist" reason="Adjacent" />
+    <disable_collisions link1="left_lower_forearm" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="left_lower_forearm" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="torso" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="left_upper_elbow" reason="Adjacent" />
+    <disable_collisions link1="left_lower_shoulder" link2="left_upper_elbow_visual" reason="Adjacent" />
+    <disable_collisions link1="left_lower_shoulder" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="left_upper_shoulder" reason="Adjacent" />
+    <disable_collisions link1="left_lower_shoulder" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="right_upper_elbow" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="screen" reason="Never" />
+    <disable_collisions link1="left_lower_shoulder" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="left_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="left_upper_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="right_upper_elbow" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="screen" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="left_upper_elbow" link2="torso" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="left_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="left_upper_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="left_wrist" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_elbow_visual" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="left_upper_forearm" link2="left_upper_forearm_visual" reason="Default" />
+    <disable_collisions link1="left_upper_forearm" link2="left_wrist" reason="Never" />
+    <disable_collisions link1="left_upper_forearm" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_upper_forearm_visual" link2="torso" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="right_lower_elbow" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="right_upper_elbow" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="screen" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="left_upper_shoulder" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="pedestal" link2="right_hand_accelerometer" reason="Never" />
+    <disable_collisions link1="pedestal" link2="right_hand_camera" reason="Default" />
+    <disable_collisions link1="pedestal" link2="right_hand_range" reason="Default" />
+    <disable_collisions link1="pedestal" link2="right_lower_elbow" reason="Default" />
+    <disable_collisions link1="pedestal" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="pedestal" link2="right_upper_elbow" reason="Never" />
+    <disable_collisions link1="pedestal" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="pedestal" link2="right_upper_forearm_visual" reason="Default" />
+    <disable_collisions link1="pedestal" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_hand_accelerometer" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_hand_camera" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_hand_range" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_lower_elbow" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_lower_shoulder" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_upper_elbow" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_upper_forearm_visual" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_upper_shoulder" reason="Never" />
+    <disable_collisions link1="pedestal" link2="screen" reason="Never" />
+    <disable_collisions link1="pedestal" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="pedestal" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="right_hand" link2="right_hand_accelerometer" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_hand_camera" reason="Adjacent" />
+    <disable_collisions link1="right_hand" link2="right_hand_range" reason="Adjacent" />
+    <disable_collisions link1="right_hand" link2="right_lower_elbow" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_lower_forearm" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_wrist" reason="Adjacent" />
+    <disable_collisions link1="right_hand" link2="pedestal" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_hand_accelerometer" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="right_hand_range" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="right_lower_elbow" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="right_lower_forearm" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="right_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="right_wrist" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="screen" reason="Never" />
+    <disable_collisions link1="right_hand_camera" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="right_lower_elbow" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="right_lower_forearm" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="right_upper_elbow" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="right_wrist" link2="right_hand_accelerometer" reason="Never" />
+    <disable_collisions link1="right_wrist" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="right_wrist" link2="right_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="right_wrist" link2="pedestal" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="right_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="right_wrist" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="screen" reason="Never" />
+    <disable_collisions link1="right_hand_range" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="right_lower_elbow" link2="right_lower_forearm" reason="Never" />
+    <disable_collisions link1="right_lower_elbow" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="right_lower_elbow" link2="right_upper_elbow" reason="Adjacent" />
+    <disable_collisions link1="right_lower_elbow" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="right_lower_elbow" link2="right_upper_forearm" reason="Adjacent" />
+    <disable_collisions link1="right_lower_elbow" link2="right_upper_forearm_visual" reason="Adjacent" />
+    <disable_collisions link1="right_lower_elbow" link2="right_wrist" reason="Never" />
+    <disable_collisions link1="right_lower_elbow" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="right_lower_forearm" link2="right_lower_shoulder" reason="Never" />
+    <disable_collisions link1="right_lower_forearm" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="right_lower_forearm" link2="right_upper_forearm" reason="Adjacent" />
+    <disable_collisions link1="right_lower_forearm" link2="right_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="right_lower_forearm" link2="right_wrist" reason="Adjacent" />
+    <disable_collisions link1="right_lower_forearm" link2="pedestal" reason="Never" />
+    <disable_collisions link1="right_lower_shoulder" link2="torso" reason="Never" />
+    <disable_collisions link1="right_lower_shoulder" link2="right_upper_elbow" reason="Adjacent" />
+    <disable_collisions link1="right_lower_shoulder" link2="right_upper_elbow_visual" reason="Adjacent" />
+    <disable_collisions link1="right_lower_shoulder" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="right_lower_shoulder" link2="right_upper_shoulder" reason="Adjacent" />
+    <disable_collisions link1="right_lower_shoulder" link2="screen" reason="Never" />
+    <disable_collisions link1="right_lower_shoulder" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="right_upper_elbow" link2="right_upper_elbow_visual" reason="Never" />
+    <disable_collisions link1="right_upper_elbow" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="right_upper_elbow" link2="screen" reason="Never" />
+    <disable_collisions link1="right_upper_elbow" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="right_upper_elbow" link2="torso" reason="Never" />
+    <disable_collisions link1="right_upper_elbow_visual" link2="right_upper_forearm_visual" reason="Never" />
+    <disable_collisions link1="right_upper_elbow_visual" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="right_upper_elbow_visual" link2="right_wrist" reason="Never" />
+    <disable_collisions link1="right_upper_elbow_visual" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="right_upper_elbow_visual" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="right_upper_elbow_visual" link2="pedestal" reason="Never" />
+    <disable_collisions link1="right_upper_forearm" link2="right_upper_forearm_visual" reason="Default" />
+    <disable_collisions link1="right_upper_forearm" link2="right_wrist" reason="Never" />
+    <disable_collisions link1="right_upper_forearm_visual" link2="torso" reason="Never" />
+    <disable_collisions link1="right_upper_shoulder" link2="screen" reason="Never" />
+    <disable_collisions link1="right_upper_shoulder" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="right_upper_shoulder" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="screen" link2="sonar_ring" reason="Never" />
+    <disable_collisions link1="screen" link2="torso" reason="Never" />
+    <disable_collisions link1="sonar_ring" link2="torso" reason="Adjacent" />
+</xacro:macro>
+</robot>
diff --git a/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/controllers.yaml b/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/controllers.yaml
new file mode 100644
index 000000000..9a935f4de
--- /dev/null
+++ b/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/controllers.yaml
@@ -0,0 +1,39 @@
+controller_list:
+  - name: /robot/limb/right
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - right_s0
+      - right_s1
+      - right_e0
+      - right_e1
+      - right_w0
+      - right_w1
+      - right_w2
+  - name: /robot/limb/left
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - left_s0
+      - left_s1
+      - left_e0
+      - left_e1
+      - left_w0
+      - left_w1
+      - left_w2
+  - name: /gripper_front/limb/right/vacuum_gripper
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - right_gripper_vacuum_pad_joint
+      - right_gripper_prismatic_joint
+  - name: /gripper_front/limb/left/vacuum_gripper
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - left_gripper_vacuum_pad_joint
+      - left_gripper_prismatic_joint
diff --git a/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7_joint_limits.yaml b/jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/joint_limits.yaml
similarity index 100%
rename from jsk_arc2017_baxter/robots/moveit_config/baxterlgv7_joint_limits.yaml
rename to jsk_arc2017_baxter/robots/moveit_config/baxterlgv7/joint_limits.yaml
diff --git a/jsk_arc2017_baxter/robots/moveit_config/gripper_v6.srdf.xacro b/jsk_arc2017_baxter/robots/moveit_config/common/gripper_v6.srdf.xacro
similarity index 100%
rename from jsk_arc2017_baxter/robots/moveit_config/gripper_v6.srdf.xacro
rename to jsk_arc2017_baxter/robots/moveit_config/common/gripper_v6.srdf.xacro
diff --git a/jsk_arc2017_baxter/robots/moveit_config/gripper_v7.srdf.xacro b/jsk_arc2017_baxter/robots/moveit_config/common/gripper_v7.srdf.xacro
similarity index 100%
rename from jsk_arc2017_baxter/robots/moveit_config/gripper_v7.srdf.xacro
rename to jsk_arc2017_baxter/robots/moveit_config/common/gripper_v7.srdf.xacro
diff --git a/jsk_arc2017_baxter/robots/moveit_config/ompl_planning.yaml b/jsk_arc2017_baxter/robots/moveit_config/common/ompl_planning.yaml
similarity index 100%
rename from jsk_arc2017_baxter/robots/moveit_config/ompl_planning.yaml
rename to jsk_arc2017_baxter/robots/moveit_config/common/ompl_planning.yaml