diff --git a/.setup_assistant b/.setup_assistant
index fae359d153383ea8d216442276b53df66b341cbf..59eb1257fb4ebe48c04faa773ea8f2f612d3bb09 100644
--- a/.setup_assistant
+++ b/.setup_assistant
@@ -7,4 +7,4 @@ moveit_setup_assistant_config:
   CONFIG:
     author_name: Mike Lautman
     author_email: mike@picknik.ai
-    generated_timestamp: 1517966279
\ No newline at end of file
+    generated_timestamp: 1519152260
\ No newline at end of file
diff --git a/config/fake_controllers.yaml b/config/fake_controllers.yaml
index 6a772d4409aab4241145b813b06542dfa2f3caad..d1415c2c36544717f14641bc50f0c13545b196be 100644
--- a/config/fake_controllers.yaml
+++ b/config/fake_controllers.yaml
@@ -1,5 +1,5 @@
 controller_list:
-  - name: fake_arm_controller
+  - name: fake_panda_arm_controller
     joints:
       - panda_joint1
       - panda_joint2
@@ -8,7 +8,7 @@ controller_list:
       - panda_joint5
       - panda_joint6
       - panda_joint7
-  - name: fake_gripper_controller
+  - name: fake_hand_controller
     joints:
       - panda_finger_joint1
       - panda_finger_joint2
\ No newline at end of file
diff --git a/config/kinematics.yaml b/config/kinematics.yaml
index a1f17d080800867f2e0e325e9c0fb78dff37d8e6..aa34b984bd3671e141078382c209544ddf02b04c 100644
--- a/config/kinematics.yaml
+++ b/config/kinematics.yaml
@@ -1,4 +1,4 @@
-arm:
+panda_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
diff --git a/config/ompl_planning.yaml b/config/ompl_planning.yaml
index c4eea41f85b351b2ba47f92fb75fba416525b09d..15ad2fd79e568b84c98efaa463313afe4282bf23 100644
--- a/config/ompl_planning.yaml
+++ b/config/ompl_planning.yaml
@@ -120,7 +120,7 @@ planner_configs:
     sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
-arm:
+panda_arm:
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault
@@ -145,7 +145,7 @@ arm:
     - LazyPRMstarkConfigDefault
     - SPARSkConfigDefault
     - SPARStwokConfigDefault
-gripper:
+hand:
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault
diff --git a/config/panda.srdf b/config/panda.srdf
index daf39b368b0500b0824e264f5989ef21183e9a7e..43b6c1490512a397a2bc25d3f7a857f7bd434ae3 100644
--- a/config/panda.srdf
+++ b/config/panda.srdf
@@ -9,7 +9,7 @@
     <!--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-->
-    <group name="arm">
+    <group name="panda_arm">
         <joint name="virtual_joint" />
         <joint name="panda_joint1" />
         <joint name="panda_joint2" />
@@ -20,23 +20,23 @@
         <joint name="panda_joint7" />
         <joint name="panda_joint8" />
     </group>
-    <group name="gripper">
+    <group name="hand">
         <link name="panda_hand" />
         <link name="panda_leftfinger" />
         <link name="panda_rightfinger" />
     </group>
     <!--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="home" group="arm">
+    <group_state name="home" group="panda_arm">
         <joint name="panda_joint1" value="0" />
         <joint name="panda_joint2" value="0" />
-        <joint name="panda_joint3" value="-0" />
+        <joint name="panda_joint3" value="0" />
         <joint name="panda_joint4" value="0" />
         <joint name="panda_joint5" value="0" />
-        <joint name="panda_joint6" value="3.1415" />
-        <joint name="panda_joint7" value="-0.7853" />
+        <joint name="panda_joint6" value="3.1416" />
+        <joint name="panda_joint7" value="1.5708" />
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="eef" parent_link="panda_link8" group="gripper" />
+    <end_effector name="hand" parent_link="panda_link8" group="hand" />
     <!--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="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0" />
     <!--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. -->
@@ -61,6 +61,7 @@
     <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
     <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
     <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
+    <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
     <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
     <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
     <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />