From d7530270a9e04e36f1aa9cac29ceda4b4bb0a44b Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Mon, 17 Apr 2017 18:57:15 +0200
Subject: [PATCH] restructure actuators

---
 cob_bringup/bundles/base_legacy.launch        |  4 +--
 cob_bringup/bundles/base_ros_control.launch   |  3 +-
 cob_bringup/bundles/canopen_generic.launch    | 12 +++++---
 .../bundles/gripper_sdhx_legacy.launch        |  6 ++--
 .../bundles/schunk_powercube_legacy.launch    | 12 +++++---
 .../cob_trajectory_controller.launch          |  5 ++--
 .../generic_cartesian_controller.launch       |  7 +++--
 .../controllers/generic_controller.launch     |  7 +++--
 cob_bringup/drivers/canopen_402.launch        |  5 ++--
 .../schunk_powercube_chain_driver.launch      |  5 ++--
 cob_bringup/modules/arm/cob4-arm3.launch      | 16 ++++++++++
 cob_bringup/modules/arm/cob4-arm4.launch      | 15 ++++++++++
 cob_bringup/modules/base/cob4-b3.launch       |  2 +-
 cob_bringup/modules/base/cob4-b4.launch       |  2 +-
 cob_bringup/modules/base/cob4-b5.launch       |  2 +-
 cob_bringup/modules/base/cob4-b6.launch       |  2 +-
 cob_bringup/modules/base/cob4-b7.launch       |  2 +-
 cob_bringup/modules/base/cob4-b8.launch       |  2 +-
 cob_bringup/modules/base/raw3-b1.launch       |  2 +-
 cob_bringup/modules/base/raw3-b3.launch       |  6 ++--
 cob_bringup/modules/base/raw3-b5.launch       |  4 +--
 cob_bringup/modules/sensorring/cob4-s3.launch | 14 +++++++++
 cob_bringup/modules/torso/cob4-t2.launch      | 15 ++++++++++
 cob_bringup/modules/torso/cob4-t7.launch      | 15 ++++++++++
 cob_bringup/modules/torso/raw3-t1.launch      | 13 ++++++++
 cob_bringup/robots/cob4-2.xml                 | 10 +++----
 cob_bringup/robots/cob4-3.xml                 |  8 ++---
 cob_bringup/robots/cob4-4.xml                 |  2 +-
 cob_bringup/robots/cob4-5.xml                 | 30 +++++++++----------
 cob_bringup/robots/cob4-6.xml                 |  2 +-
 cob_bringup/robots/cob4-7.xml                 | 10 +++----
 cob_bringup/robots/raw3-1.xml                 |  6 ++--
 .../arm_left_cartesian_controller.yaml        |  0
 .../arm/cob4-arm3}/arm_left_controller.yaml   |  0
 .../arm/cob4-arm3}/arm_left_driver.yaml       |  0
 .../cob4-arm3}/arm_left_self_collision.yaml   |  0
 .../arm_right_cartesian_controller.yaml       |  0
 .../arm/cob4-arm4}/arm_right_controller.yaml  |  0
 .../arm/cob4-arm4}/arm_right_driver.yaml      |  0
 .../cob4-arm4}/arm_right_self_collision.yaml  |  0
 .../cob4-hand3}/gripper_left_controller.yaml  |  0
 .../cob4-hand4}/gripper_right_controller.yaml |  0
 .../cob4-s3}/sensorring_controller.yaml       |  0
 .../cob4-s3}/sensorring_driver.yaml           |  0
 .../cob4-t2}/torso_cartesian_controller.yaml  |  0
 .../torso/cob4-t2}/torso_controller.yaml      |  0
 .../torso/cob4-t2}/torso_driver.yaml          |  0
 .../torso/cob4-t2}/torso_self_collision.yaml  |  0
 .../cob4-t7}/torso_cartesian_controller.yaml  |  0
 .../torso/cob4-t7}/torso_controller.yaml      |  0
 .../torso/cob4-t7}/torso_driver.yaml          |  0
 .../torso/cob4-t7}/torso_self_collision.yaml  |  0
 .../torso/raw3-t1}/torso_controller.yaml      |  0
 .../torso/raw3-t1}/torso_driver.yaml          |  0
 54 files changed, 171 insertions(+), 75 deletions(-)
 create mode 100644 cob_bringup/modules/arm/cob4-arm3.launch
 create mode 100644 cob_bringup/modules/arm/cob4-arm4.launch
 create mode 100644 cob_bringup/modules/sensorring/cob4-s3.launch
 create mode 100644 cob_bringup/modules/torso/cob4-t2.launch
 create mode 100644 cob_bringup/modules/torso/cob4-t7.launch
 create mode 100644 cob_bringup/modules/torso/raw3-t1.launch
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/gripper/cob4-hand3}/gripper_left_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/gripper/cob4-hand4}/gripper_right_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/sensorring/cob4-s3}/sensorring_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/sensorring/cob4-s3}/sensorring_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/torso/raw3-t1}/torso_controller.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/torso/raw3-t1}/torso_driver.yaml (100%)

diff --git a/cob_bringup/bundles/base_legacy.launch b/cob_bringup/bundles/base_legacy.launch
index 665a66a84..dc4792421 100644
--- a/cob_bringup/bundles/base_legacy.launch
+++ b/cob_bringup/bundles/base_legacy.launch
@@ -8,9 +8,7 @@
 		<include file="$(find cob_bringup)/drivers/base_driver.launch">
 			<arg name="base" value="$(arg base)"/>
 		</include>
-		<include file="$(find cob_bringup)/controllers/base_controller.launch">
-			<arg name="base" value="$(arg base)"/>
-		</include>
+		<include file="$(find cob_bringup)/controllers/base_controller.launch"/>
 	</group>
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">
diff --git a/cob_bringup/bundles/base_ros_control.launch b/cob_bringup/bundles/base_ros_control.launch
index 6310a4c03..6876ae7ae 100644
--- a/cob_bringup/bundles/base_ros_control.launch
+++ b/cob_bringup/bundles/base_ros_control.launch
@@ -14,7 +14,8 @@
 	<arg name="start_external_sync" value="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
-		<arg name="base" value="$(arg base)"/>
+		<arg name="module" value="$(arg base)"/>
+		<arg name="module_type" value="base"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="can_device" value="$(arg can_device)"/>
 		<arg name="interval_ms" value="$(arg interval_ms)"/>
diff --git a/cob_bringup/bundles/canopen_generic.launch b/cob_bringup/bundles/canopen_generic.launch
index 711d1a01a..b325f6a66 100644
--- a/cob_bringup/bundles/canopen_generic.launch
+++ b/cob_bringup/bundles/canopen_generic.launch
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="component_name"/>
 
 	<arg name="can_device"/>
@@ -12,7 +13,8 @@
 	<arg name="sim" default="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="can_device" value="$(arg can_device)"/>
 		<arg name="interval_ms" value="$(arg interval_ms)"/>
@@ -22,11 +24,13 @@
 	<node if="$(arg sim)" ns="$(arg component_name)" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
 
 	<include file="$(find cob_bringup)/controllers/generic_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 	<include if="$(arg cartesian_control)" file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="debug" value="false"/>
 	</include>
diff --git a/cob_bringup/bundles/gripper_sdhx_legacy.launch b/cob_bringup/bundles/gripper_sdhx_legacy.launch
index a5149580d..048898f65 100644
--- a/cob_bringup/bundles/gripper_sdhx_legacy.launch
+++ b/cob_bringup/bundles/gripper_sdhx_legacy.launch
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type" default="gripper"/>
 	<arg name="component_name"/>
 	<arg name="sim" default="false"/>
 
@@ -8,7 +9,8 @@
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 	<include if="$(arg sim)" file="$(find cob_bringup)/controllers/generic_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 </launch>
diff --git a/cob_bringup/bundles/schunk_powercube_legacy.launch b/cob_bringup/bundles/schunk_powercube_legacy.launch
index 97ba7f82e..6695aa68a 100644
--- a/cob_bringup/bundles/schunk_powercube_legacy.launch
+++ b/cob_bringup/bundles/schunk_powercube_legacy.launch
@@ -1,23 +1,27 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="component_name"/>
 	<arg name="sim" default="false"/>
 
 	<group unless="$(arg sim)">
 		<include file="$(find cob_bringup)/drivers/schunk_powercube_chain_driver.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 		<include file="$(find cob_bringup)/controllers/cob_trajectory_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 	</group>
 
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/generic_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 		<node ns="$(arg component_name)" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
diff --git a/cob_bringup/controllers/cob_trajectory_controller.launch b/cob_bringup/controllers/cob_trajectory_controller.launch
index 150c70be0..f732b065d 100644
--- a/cob_bringup/controllers/cob_trajectory_controller.launch
+++ b/cob_bringup/controllers/cob_trajectory_controller.launch
@@ -1,14 +1,15 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<group ns="$(arg component_name)">
 
 		<!-- parameter description of the trajectory controller -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_controller.yaml"/>
 
 		<!-- The trajectory controller listens for JointTrajectoryFollowAction and sends velocity commands to the CANopen node -->
 		<node pkg="cob_trajectory_controller" type="cob_trajectory_controller" name="joint_trajectory_controller" cwd="node" respawn="false" output="screen"/>
diff --git a/cob_bringup/controllers/generic_cartesian_controller.launch b/cob_bringup/controllers/generic_cartesian_controller.launch
index afc5289dd..b64ab5fe7 100644
--- a/cob_bringup/controllers/generic_cartesian_controller.launch
+++ b/cob_bringup/controllers/generic_cartesian_controller.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 	<arg name="debug" default="false"/>
@@ -9,8 +10,8 @@
 	<group ns="$(arg component_name)">
 
 		<!-- load Cartesian controller config -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_cartesian_controller.yaml"/>
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_self_collision.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_cartesian_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_self_collision.yaml"/>
 
 		<!-- Cartesian controllers -->
 		<node pkg="cob_twist_controller" type="cob_twist_controller_node" name="twist_controller" cwd="node" respawn="false" output="screen">
diff --git a/cob_bringup/controllers/generic_controller.launch b/cob_bringup/controllers/generic_controller.launch
index 881a4ce2f..0b3e456d2 100644
--- a/cob_bringup/controllers/generic_controller.launch
+++ b/cob_bringup/controllers/generic_controller.launch
@@ -1,15 +1,16 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<group ns="$(arg component_name)">
 
 		<!-- load controller configs -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_controller.yaml"/>
-		<!--rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_joint_limits.yaml"/-->
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_controller.yaml"/>
+		<!--rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_joint_limits.yaml"/-->
 
 		<!-- start_controllers -->
 		<node pkg="controller_manager" type="controller_manager" name="$(arg component_name)_controller_spawner" args="spawn joint_state_controller" respawn="false" output="screen"/>
diff --git a/cob_bringup/drivers/canopen_402.launch b/cob_bringup/drivers/canopen_402.launch
index 5e9e79d93..a53a6879f 100644
--- a/cob_bringup/drivers/canopen_402.launch
+++ b/cob_bringup/drivers/canopen_402.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 	<arg name="can_device"/>
@@ -17,7 +18,7 @@
 
 	<!-- start canopen node -->
 	<node ns="$(arg component_name)" pkg="canopen_motor_node" type="canopen_motor_node" name="driver" output="screen">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_driver.yaml"/>
 		<rosparam subst_value="True">{bus: { device: $(arg can_device) } }</rosparam>
 		<rosparam subst_value="True" if="$(arg use_external_sync)">{sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
 		<param name="bus/master_allocator" value="canopen::ExternalMaster::Allocator" if="$(arg use_external_sync)"/>
diff --git a/cob_bringup/drivers/schunk_powercube_chain_driver.launch b/cob_bringup/drivers/schunk_powercube_chain_driver.launch
index bfbbd1449..a7a51e60b 100644
--- a/cob_bringup/drivers/schunk_powercube_chain_driver.launch
+++ b/cob_bringup/drivers/schunk_powercube_chain_driver.launch
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<node ns="$(arg component_name)" pkg="schunk_powercube_chain" type="schunk_powercube_chain" name="$(arg component_name)_driver" respawn="false" output="screen" >
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_driver.yaml"/>
 		<remap from="diagnostics" to="/diagnostics"/>
 	</node>
 
diff --git a/cob_bringup/modules/arm/cob4-arm3.launch b/cob_bringup/modules/arm/cob4-arm3.launch
new file mode 100644
index 000000000..4c39b772a
--- /dev/null
+++ b/cob_bringup/modules/arm/cob4-arm3.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="arm" value="cob4-arm3"/>
+	<arg name="component_name"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg arm)"/>
+		<arg name="module_type" value="arm"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+		<arg name="can_device" value="can3"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/arm/cob4-arm4.launch b/cob_bringup/modules/arm/cob4-arm4.launch
new file mode 100644
index 000000000..1ce17399c
--- /dev/null
+++ b/cob_bringup/modules/arm/cob4-arm4.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="arm" value="cob4-arm4"/>
+	<arg name="component_name"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg arm)"/>
+		<arg name="module_type" value="arm"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+		<arg name="can_device" value="can2"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b3.launch b/cob_bringup/modules/base/cob4-b3.launch
index 70a21d3ac..f6a68e082 100644
--- a/cob_bringup/modules/base/cob4-b3.launch
+++ b/cob_bringup/modules/base/cob4-b3.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b4.launch b/cob_bringup/modules/base/cob4-b4.launch
index 4971a68e5..392feccb9 100644
--- a/cob_bringup/modules/base/cob4-b4.launch
+++ b/cob_bringup/modules/base/cob4-b4.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b5.launch b/cob_bringup/modules/base/cob4-b5.launch
index 544843cee..9ae63a547 100644
--- a/cob_bringup/modules/base/cob4-b5.launch
+++ b/cob_bringup/modules/base/cob4-b5.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b6.launch b/cob_bringup/modules/base/cob4-b6.launch
index 0535c60d4..6af98ef17 100644
--- a/cob_bringup/modules/base/cob4-b6.launch
+++ b/cob_bringup/modules/base/cob4-b6.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b7.launch b/cob_bringup/modules/base/cob4-b7.launch
index 4736cc3a0..6926e7b5b 100644
--- a/cob_bringup/modules/base/cob4-b7.launch
+++ b/cob_bringup/modules/base/cob4-b7.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b8.launch b/cob_bringup/modules/base/cob4-b8.launch
index d99c2eb34..9d7fc7c3b 100644
--- a/cob_bringup/modules/base/cob4-b8.launch
+++ b/cob_bringup/modules/base/cob4-b8.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/raw3-b1.launch b/cob_bringup/modules/base/raw3-b1.launch
index c2665d515..3dc8f4a2b 100644
--- a/cob_bringup/modules/base/raw3-b1.launch
+++ b/cob_bringup/modules/base/raw3-b1.launch
@@ -29,7 +29,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/raw3-b3.launch b/cob_bringup/modules/base/raw3-b3.launch
index 46dedfbc6..51535346f 100644
--- a/cob_bringup/modules/base/raw3-b3.launch
+++ b/cob_bringup/modules/base/raw3-b3.launch
@@ -5,7 +5,7 @@
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
 		<arg name="name" value="base_laser_front"/>
-		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="port" value="/dev/ttyUSB1"/>
 		<arg name="inverted" value="false"/>
 		<arg name="scan_id" value="7"/>
 		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
@@ -13,7 +13,7 @@
 	</include>
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
 		<arg name="name" value="base_laser_rear"/>
-		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="port" value="/dev/ttyUSB0"/>
 		<arg name="inverted" value="false"/>
 		<arg name="scan_id" value="7"/>
 		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
@@ -29,7 +29,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/raw3-b5.launch b/cob_bringup/modules/base/raw3-b5.launch
index 85b899d5b..184bf7837 100644
--- a/cob_bringup/modules/base/raw3-b5.launch
+++ b/cob_bringup/modules/base/raw3-b5.launch
@@ -4,7 +4,7 @@
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-		<arg name="name" value="base_laser_left"/>
+		<arg name="name" value="base_laser_front"/>
 		<arg name="host" value="141.3.80.116"/>
 		<arg name="inverted" value="true"/>
 		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
@@ -28,7 +28,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/sensorring/cob4-s3.launch b/cob_bringup/modules/sensorring/cob4-s3.launch
new file mode 100644
index 000000000..9f3a68fd2
--- /dev/null
+++ b/cob_bringup/modules/sensorring/cob4-s3.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sensorring" value="cob4-s3"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg sensorring)"/>
+		<arg name="module_type" value="sensorring"/>
+		<arg name="component_name" value="sensorring"/>
+		<arg name="can_device" value="can1"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/cob4-t2.launch b/cob_bringup/modules/torso/cob4-t2.launch
new file mode 100644
index 000000000..4a0bd1570
--- /dev/null
+++ b/cob_bringup/modules/torso/cob4-t2.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="cob4-t2"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="can_device" value="can0"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/cob4-t7.launch b/cob_bringup/modules/torso/cob4-t7.launch
new file mode 100644
index 000000000..0fa45b999
--- /dev/null
+++ b/cob_bringup/modules/torso/cob4-t7.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="cob4-t7"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="can_device" value="can0"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/raw3-t1.launch b/cob_bringup/modules/torso/raw3-t1.launch
new file mode 100644
index 000000000..c9758178f
--- /dev/null
+++ b/cob_bringup/modules/torso/raw3-t1.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="raw3-t1"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/schunk_powercube_legacy.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 81b8b2861..308fe2020 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -13,6 +13,7 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="cob4-b7"/>
+	<arg name="torso" value="cob4-t7"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -49,7 +50,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
@@ -77,7 +78,6 @@
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/tools/docker_control.launch">
 			<arg name="robot" value="$(arg robot)"/>
@@ -105,12 +105,10 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="torso"/>
-			<arg name="can_device" value="can0"/>
+		<include file="$(find cob_bringup)/modules/torso/$(arg torso).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index c7dcdafa0..feaf5223a 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -28,12 +28,12 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
-			<arg name="robot" value="$(arg robot)"/>
+
+		<include file="$(find cob_bringup)/drivers/bms.launch">
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-4.xml b/cob_bringup/robots/cob4-4.xml
index 860d1c647..0e9d4f71d 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -34,7 +34,7 @@
 		</include>
 
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index 3393bf541..1763db27b 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -13,6 +13,11 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="cob4-b5"/>
+	<arg name="sensorring" value="cob4-s3"/>
+	<arg name="arm_left" value="cob4-arm3"/>
+	<arg name="arm_right" value="cob4-arm4"/>
+	<arg name="gripper_left" value="cob4-hand3"/>
+	<arg name="gripper_right" value="cob4-hand4"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -49,7 +54,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
@@ -77,7 +82,6 @@
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/tools/docker_control.launch">
 			<arg name="robot" value="$(arg robot)"/>
@@ -105,28 +109,22 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="sensorring"/>
-			<arg name="can_device" value="can1"/>
+		<include file="$(find cob_bringup)/modules/sensorring/$(arg sensorring).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
+
+		<include file="$(find cob_bringup)/modules/arm/$(arg arm_left).launch">
 			<arg name="component_name" value="arm_left"/>
-			<arg name="can_device" value="can3"/>
 			<arg name="sim" value="$(arg sim)"/>
-			<arg if="$(arg sim)" name="cartesian_control" value="true"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
+
+		<include file="$(find cob_bringup)/modules/arm/$(arg arm_right).launch">
 			<arg name="component_name" value="arm_right"/>
-			<arg name="can_device" value="can2"/>
 			<arg name="sim" value="$(arg sim)"/>
-			<arg if="$(arg sim)" name="cartesian_control" value="true"/>
 		</include>
+
 		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg gripper_right)"/>
 			<arg name="component_name" value="gripper_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
@@ -189,7 +187,7 @@
 		</include>
 
 		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg gripper_left)"/>
 			<arg name="component_name" value="gripper_left"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index 76513cb41..ca6cb3d44 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -34,7 +34,7 @@
 		</include>
 
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index 9fc242efa..e818c7845 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -13,6 +13,7 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="cob4-b8"/>
+	<arg name="torso" value="cob4-t2"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -49,7 +50,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="true"/>
 		</include>
 
@@ -77,7 +78,6 @@
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/tools/docker_control.launch">
 			<arg name="robot" value="$(arg robot)"/>
@@ -105,12 +105,10 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="torso"/>
-			<arg name="can_device" value="can0"/>
+		<include file="$(find cob_bringup)/modules/torso/$(arg torso).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index 59aa4e79a..483783d83 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -11,6 +11,7 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="raw3-b1"/>
+	<arg name="torso" value="raw3-t1"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -51,11 +52,10 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/bundles/schunk_powercube_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="torso"/>
+		<include file="$(find cob_bringup)/modules/torso/$(arg torso).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/drivers/ur.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="use_modern_driver" value="false"/>
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_cartesian_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_cartesian_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_self_collision.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_self_collision.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_self_collision.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_cartesian_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_cartesian_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_self_collision.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_self_collision.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_self_collision.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/gripper_left_controller.yaml b/cob_hardware_config/modules/gripper/cob4-hand3/gripper_left_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/gripper_left_controller.yaml
rename to cob_hardware_config/modules/gripper/cob4-hand3/gripper_left_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/gripper_right_controller.yaml b/cob_hardware_config/modules/gripper/cob4-hand4/gripper_right_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/gripper_right_controller.yaml
rename to cob_hardware_config/modules/gripper/cob4-hand4/gripper_right_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/sensorring_controller.yaml b/cob_hardware_config/modules/sensorring/cob4-s3/sensorring_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/sensorring_controller.yaml
rename to cob_hardware_config/modules/sensorring/cob4-s3/sensorring_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml b/cob_hardware_config/modules/sensorring/cob4-s3/sensorring_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml
rename to cob_hardware_config/modules/sensorring/cob4-s3/sensorring_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_cartesian_controller.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_cartesian_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_controller.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_driver.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_self_collision.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_self_collision.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_self_collision.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_cartesian_controller.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_cartesian_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_controller.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_driver.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_self_collision.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_self_collision.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_self_collision.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/torso_controller.yaml b/cob_hardware_config/modules/torso/raw3-t1/torso_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/torso_controller.yaml
rename to cob_hardware_config/modules/torso/raw3-t1/torso_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/torso_driver.yaml b/cob_hardware_config/modules/torso/raw3-t1/torso_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/raw3-t1/torso_driver.yaml