diff --git a/cob_bringup/CMakeLists.txt b/cob_bringup/CMakeLists.txt
index 3348bc795..af7ece336 100644
--- a/cob_bringup/CMakeLists.txt
+++ b/cob_bringup/CMakeLists.txt
@@ -16,7 +16,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY components controllers drivers robots tools
+install(DIRECTORY bundles controllers drivers modules robots tools
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_bringup/components/cob4_base.launch b/cob_bringup/bundles/base_cob4.launch
similarity index 58%
rename from cob_bringup/components/cob4_base.launch
rename to cob_bringup/bundles/base_cob4.launch
index cbb0d89a9..c5f30365f 100644
--- a/cob_bringup/components/cob4_base.launch
+++ b/cob_bringup/bundles/base_cob4.launch
@@ -1,16 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
-
+	<arg name="base"/>
 	<arg name="can_device" default="can0"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
-	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/cob4_base_driver.yaml"/>
-	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/cob4_base_controller.yaml"/>
+	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_cob4_driver.yaml"/>
+	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_cob4_controller.yaml"/>
 
-	<include file="$(find cob_bringup)/components/ros_control_base.launch">
-		<arg name="robot" value="$(arg robot)"/>
+	<include file="$(find cob_bringup)/bundles/base_ros_control.launch">
+		<arg name="base" value="$(arg base)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="driver_yaml" value="$(arg driver_yaml)"/>
 		<arg name="controller_yaml" value="$(arg controller_yaml)"/>
diff --git a/cob_bringup/components/legacy_base.launch b/cob_bringup/bundles/base_legacy.launch
similarity index 80%
rename from cob_bringup/components/legacy_base.launch
rename to cob_bringup/bundles/base_legacy.launch
index dbd8e34f2..dc4792421 100644
--- a/cob_bringup/components/legacy_base.launch
+++ b/cob_bringup/bundles/base_legacy.launch
@@ -1,20 +1,18 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
 	<group unless="$(arg sim)">
 		<include file="$(find cob_bringup)/drivers/base_driver.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
-		<include file="$(find cob_bringup)/controllers/base_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 		</include>
+		<include file="$(find cob_bringup)/controllers/base_controller.launch"/>
 	</group>
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 		</include>
 		<node ns="base" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
 	</group>
@@ -22,15 +20,14 @@
 	<group ns="base">
 		<!-- twist mux -->
 		<include file="$(find cob_bringup)/tools/twist_mux.launch">
-			<arg name="robot" value="$(arg robot)"/>
 			<arg name="cmd_vel_out" default="velocity_smoother/command"/>
 			<arg name="marker_out" default="twist_mux/marker"/>
 		</include>
 
 		<!-- velocity smoother -->
 		<include file="$(find cob_bringup)/tools/velocity_smoother.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="config_file"           default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+			<arg name="base" value="$(arg base)"/>
+			<arg name="config_file"           default="$(arg pkg_hardware_config)/modules/base/$(arg base)/velocity_smoother.yaml"/>
 			<arg name="raw_cmd_vel_topic"     default="velocity_smoother/command"/>
 			<arg name="smooth_cmd_vel_topic"  default="twist_controller/command"/>
 			<arg name="robot_cmd_vel_topic"   default="twist_controller/command"/>
diff --git a/cob_bringup/components/raw3_base.launch b/cob_bringup/bundles/base_raw3.launch
similarity index 57%
rename from cob_bringup/components/raw3_base.launch
rename to cob_bringup/bundles/base_raw3.launch
index 53a422f1d..f37c4ff4c 100644
--- a/cob_bringup/components/raw3_base.launch
+++ b/cob_bringup/bundles/base_raw3.launch
@@ -1,16 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>	
+	<arg name="base"/>
 	<arg name="can_device"/>
-
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
-	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/raw3_base_driver.yaml"/>
-	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/raw3_base_controller.yaml"/>
+	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_raw3_driver.yaml"/>
+	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_raw3_controller.yaml"/>
 
-	<include file="$(find cob_bringup)/components/ros_control_base.launch">
-		<arg name="robot" value="$(arg robot)"/>
+	<include file="$(find cob_bringup)/bundles/base_ros_control.launch">
+		<arg name="base" value="$(arg base)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="driver_yaml" value="$(arg driver_yaml)"/>
 		<arg name="controller_yaml" value="$(arg controller_yaml)"/>
diff --git a/cob_bringup/components/ros_control_base.launch b/cob_bringup/bundles/base_ros_control.launch
similarity index 91%
rename from cob_bringup/components/ros_control_base.launch
rename to cob_bringup/bundles/base_ros_control.launch
index d9cac8459..6876ae7ae 100644
--- a/cob_bringup/components/ros_control_base.launch
+++ b/cob_bringup/bundles/base_ros_control.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="base"/>
 	<arg name="driver_yaml"/>
 	<arg name="controller_yaml"/>
 
@@ -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="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(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="$(arg interval_ms)"/>
@@ -37,15 +38,14 @@
 	<group ns="$(arg component_name)">
 		<!-- twist mux -->
 		<include file="$(find cob_bringup)/tools/twist_mux.launch">
-			<arg name="robot" value="$(arg robot)"/>
 			<arg name="cmd_vel_out" default="velocity_smoother/command"/>
 			<arg name="marker_out" default="twist_mux/marker"/>
 		</include>
 
 		<!-- velocity smoother -->
 		<include file="$(find cob_bringup)/tools/velocity_smoother.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="config_file"           default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+			<arg name="base" value="$(arg base)"/>
+			<arg name="config_file"           default="$(arg pkg_hardware_config)/modules/base/$(arg base)/velocity_smoother.yaml"/>
 			<arg name="raw_cmd_vel_topic"     default="velocity_smoother/command"/>
 			<arg name="smooth_cmd_vel_topic"  default="twist_controller/command"/>
 			<arg name="robot_cmd_vel_topic"   default="twist_controller/command"/>
diff --git a/cob_bringup/components/cam3d_openni2.launch b/cob_bringup/bundles/cam3d_openni2.launch
similarity index 100%
rename from cob_bringup/components/cam3d_openni2.launch
rename to cob_bringup/bundles/cam3d_openni2.launch
diff --git a/cob_bringup/components/cam3d_r200_rgbd.launch b/cob_bringup/bundles/cam3d_r200_rgbd.launch
similarity index 100%
rename from cob_bringup/components/cam3d_r200_rgbd.launch
rename to cob_bringup/bundles/cam3d_r200_rgbd.launch
diff --git a/cob_bringup/components/cob4_head_camera.launch b/cob_bringup/bundles/camera_cob4_head.launch
similarity index 100%
rename from cob_bringup/components/cob4_head_camera.launch
rename to cob_bringup/bundles/camera_cob4_head.launch
diff --git a/cob_bringup/components/canopen_generic.launch b/cob_bringup/bundles/canopen_generic.launch
similarity index 78%
rename from cob_bringup/components/canopen_generic.launch
rename to cob_bringup/bundles/canopen_generic.launch
index 711d1a01a..b325f6a66 100644
--- a/cob_bringup/components/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/components/legacy_sdhx.launch b/cob_bringup/bundles/gripper_sdhx_legacy.launch
similarity index 72%
rename from cob_bringup/components/legacy_sdhx.launch
rename to cob_bringup/bundles/gripper_sdhx_legacy.launch
index a5149580d..048898f65 100644
--- a/cob_bringup/components/legacy_sdhx.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/components/legacy_schunk_powercube.launch b/cob_bringup/bundles/schunk_powercube_legacy.launch
similarity index 69%
rename from cob_bringup/components/legacy_schunk_powercube.launch
rename to cob_bringup/bundles/schunk_powercube_legacy.launch
index 97ba7f82e..6695aa68a 100644
--- a/cob_bringup/components/legacy_schunk_powercube.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/base_controller.launch b/cob_bringup/controllers/base_controller.launch
index 77e52c8dc..9de59c547 100644
--- a/cob_bringup/controllers/base_controller.launch
+++ b/cob_bringup/controllers/base_controller.launch
@@ -1,9 +1,6 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
-
 	<group ns="base">
 
 		<!-- start undercarriage ctrl -->
diff --git a/cob_bringup/controllers/base_controller_plugin.launch b/cob_bringup/controllers/base_controller_plugin.launch
index 4a2335ec9..119b833f6 100644
--- a/cob_bringup/controllers/base_controller_plugin.launch
+++ b/cob_bringup/controllers/base_controller_plugin.launch
@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<group ns="base">
 
 		<!-- load controller configs -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base_controller.yaml"/>
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base_joint_limits.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/base_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/base_joint_limits.yaml"/>
 
 		<!-- start controllers -->
 		<node pkg="controller_manager" type="controller_manager" name="base_controller_spawner" args="spawn joint_state_controller twist_controller odometry_controller" 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/base_driver.launch b/cob_bringup/drivers/base_driver.launch
index 0388ca2dd..3c957fdc0 100644
--- a/cob_bringup/drivers/base_driver.launch
+++ b/cob_bringup/drivers/base_driver.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<group ns="base">
 
 		<!-- upload parameters -->
-		<param name="IniDirectory" value="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base/"/>
+		<param name="IniDirectory" value="$(arg pkg_hardware_config)/modules/base/$(arg base)/base/"/>
 		<param name="timeout" value="0.2"/>
 		<param name="PublishEffort" value="false"/>
 		<param name="max_trans_velocity" value="1.1"/>	<!-- default: 1.1 m/s -->
diff --git a/cob_bringup/drivers/bms.launch b/cob_bringup/drivers/bms.launch
index 69f1f0129..3a89cf0a3 100644
--- a/cob_bringup/drivers/bms.launch
+++ b/cob_bringup/drivers/bms.launch
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
 	<node unless="$(arg sim)" name="bms" pkg="cob_bms_driver" type="bms_driver_node" output="screen" clear_params="true">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/bms.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/bms.yaml"/>
 	</node>
 	<node if="$(arg sim)" name="bms" pkg="cob_bms_driver" type="fake_bms.py" output="screen" clear_params="true">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/bms.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/bms.yaml"/>
 	</node>
 
 	<node ns="bms" name="power_state_aggregator" pkg="cob_bms_driver" type="power_state_aggregator.py" 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/joy.launch b/cob_bringup/drivers/joy.launch
index 05eb6dfe0..9ea11c56c 100644
--- a/cob_bringup/drivers/joy.launch
+++ b/cob_bringup/drivers/joy.launch
@@ -1,12 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
+	<arg name="dev" default="/dev/input/js0"/>
+	<arg name="deadzone" default="0.12"/>
 
 	<!-- run joystick -->
 	<node pkg="joy" type="joy_node" name="$(anon joy_node)">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/joy.yaml"/>
+		<rosparam param="dev" subst_value="True">$(arg dev)</rosparam>
+		<rosparam param="deadzone" subst_value="True">$(arg deadzone)</rosparam>
 	</node>
 
 </launch>
diff --git a/cob_bringup/drivers/laser_scan_filter.launch b/cob_bringup/drivers/laser_scan_filter.launch
index 1acbae89a..5b4c0cd4e 100644
--- a/cob_bringup/drivers/laser_scan_filter.launch
+++ b/cob_bringup/drivers/laser_scan_filter.launch
@@ -1,12 +1,11 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="scan_intervals"/>
 
 	<!-- scan filters-->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<rosparam ns="$(arg name)" param="scan_intervals" subst_value="True">$(arg scan_intervals)</rosparam>
 	<node ns="$(arg name)" pkg="cob_sick_s300" type="cob_scan_filter" name="scan_filter" respawn="false" output="screen">
 		<remap from="scan_in" to="scan_raw"/>
 		<remap from="scan_out" to="scan"/>
diff --git a/cob_bringup/drivers/scan_unifier.launch b/cob_bringup/drivers/scan_unifier.launch
index f5fc1cbaf..7391cf51c 100644
--- a/cob_bringup/drivers/scan_unifier.launch
+++ b/cob_bringup/drivers/scan_unifier.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
-	<arg name="param_file" default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/scan_unifier_config.yaml"/>
+	<arg name="input_scans"/>
+	<arg name="frame" default="base_link"/>
 
 	<!-- run scan unifier -->
 	<node pkg="cob_scan_unifier" type="scan_unifier_node" name="scan_unifier" output="log">
-		<rosparam file="$(arg param_file)" command="load"/>
+		<rosparam param="input_scans" subst_value="True">$(arg input_scans)</rosparam>
+		<rosparam param="frame" subst_value="True">$(arg frame)</rosparam>
 		<remap from="scan_unified" to="/scan_unified"/>
 	</node>
 
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/drivers/sick_lms1xx.launch b/cob_bringup/drivers/sick_lms1xx.launch
index 5ce20df91..fcde7d284 100644
--- a/cob_bringup/drivers/sick_lms1xx.launch
+++ b/cob_bringup/drivers/sick_lms1xx.launch
@@ -1,24 +1,31 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="host"/>
+	<arg name="inverted"/>
+	<arg name="frame_id" default="$(arg name)_link"/>
+	<arg name="scan_intervals"/>
 	<arg name="sim" default="false"/>
 
 	<!-- load parameter -->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<group ns="$(arg name)">
+		<rosparam command="load" file="$(arg pkg_hardware_config)/components/sick_lms1xx/sick_lms1xx.yaml"/>
+		<rosparam param="host" subst_value="True">$(arg host)</rosparam>
+		<rosparam param="inverted" subst_value="True">$(arg inverted)</rosparam>
+		<rosparam param="frame_id" subst_value="True">$(arg frame_id)</rosparam>
 
-	<!-- start laser driver -->
-	<node unless="$(arg sim)" ns="$(arg name)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
-		<remap from="scan" to="scan_raw"/>
-	</node>
+		<!-- start laser driver -->
+		<node unless="$(arg sim)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
+			<remap from="scan" to="scan_raw"/>
+		</node>
+	</group>
 
 	<!-- laser filter -->
 	<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="name" value="$(arg name)"/>
+		<arg name="scan_intervals" value="$(arg scan_intervals)"/>
 	</include>
 
 </launch>
diff --git a/cob_bringup/drivers/sick_s300.launch b/cob_bringup/drivers/sick_s300.launch
index 7ca1d1135..946020dda 100644
--- a/cob_bringup/drivers/sick_s300.launch
+++ b/cob_bringup/drivers/sick_s300.launch
@@ -1,24 +1,33 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="port"/>
+	<arg name="inverted"/>
+	<arg name="scan_id"/>
+	<arg name="frame_id" default="$(arg name)_link"/>
+	<arg name="scan_intervals"/>
 	<arg name="sim" default="false"/>
 
 	<!-- load parameter -->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<group ns="$(arg name)">
+		<rosparam command="load" file="$(arg pkg_hardware_config)/components/sick_s300/sick_s300.yaml"/>
+		<rosparam param="port" subst_value="True">$(arg port)</rosparam>
+		<rosparam param="inverted" subst_value="True">$(arg inverted)</rosparam>
+		<rosparam param="scan_id" subst_value="True">$(arg scan_id)</rosparam>
+		<rosparam param="frame_id" subst_value="True">$(arg frame_id)</rosparam>
 
-	<!-- start laser driver -->
-	<node unless="$(arg sim)" ns="$(arg name)" pkg="cob_sick_s300" type="cob_sick_s300" name="driver" respawn="false" output="screen">
-		<remap from="scan" to="scan_raw"/>
-	</node>
+		<!-- start laser driver -->
+		<node unless="$(arg sim)" pkg="cob_sick_s300" type="cob_sick_s300" name="driver" respawn="false" output="screen">
+			<remap from="scan" to="scan_raw"/>
+		</node>
+	</group>
 
 	<!-- laser filter -->
 	<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="name" value="$(arg name)"/>
+		<arg name="scan_intervals" value="$(arg scan_intervals)"/>
 	</include>
 
 </launch>
diff --git a/cob_bringup/drivers/ur.launch b/cob_bringup/drivers/ur.launch
index 27ed1a001..2b7921e8f 100644
--- a/cob_bringup/drivers/ur.launch
+++ b/cob_bringup/drivers/ur.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type" value="arm"/>
 	<arg name="component_name" default="arm"/>
 	<arg name="use_modern_driver" default="false"/>
 	<arg name="robot_ip" default="localhost"/>
@@ -31,11 +32,13 @@
 		</node-->
 	</group>
 	<include if="$(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="$(arg component_name)"/>
 	</include>
 	<include if="$(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="$(arg component_name)"/>
 		<arg name="debug" value="false"/>
 	</include>
diff --git a/cob_bringup/modules/arm/cob4-arm3.launch b/cob_bringup/modules/arm/cob4-arm3.launch
new file mode 100644
index 000000000..4c39b772a
--- /dev/null
+++ b/cob_bringup/modules/arm/cob4-arm3.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="arm" value="cob4-arm3"/>
+	<arg name="component_name"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(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
new file mode 100644
index 000000000..f6a68e082
--- /dev/null
+++ b/cob_bringup/modules/base/cob4-b3.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="cob4-b3"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b4.launch b/cob_bringup/modules/base/cob4-b4.launch
new file mode 100644
index 000000000..392feccb9
--- /dev/null
+++ b/cob_bringup/modules/base/cob4-b4.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="cob4-b4"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b5.launch b/cob_bringup/modules/base/cob4-b5.launch
new file mode 100644
index 000000000..9ae63a547
--- /dev/null
+++ b/cob_bringup/modules/base/cob4-b5.launch
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="cob4-b5"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
+	</include>
+
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b6.launch b/cob_bringup/modules/base/cob4-b6.launch
new file mode 100644
index 000000000..6af98ef17
--- /dev/null
+++ b/cob_bringup/modules/base/cob4-b6.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="cob4-b6"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b7.launch b/cob_bringup/modules/base/cob4-b7.launch
new file mode 100644
index 000000000..6926e7b5b
--- /dev/null
+++ b/cob_bringup/modules/base/cob4-b7.launch
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="cob4-b7"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
+	</include>
+
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b8.launch b/cob_bringup/modules/base/cob4-b8.launch
new file mode 100644
index 000000000..9d7fc7c3b
--- /dev/null
+++ b/cob_bringup/modules/base/cob4-b8.launch
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="cob4-b8"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
+	</include>
+
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/raw3-b1.launch b/cob_bringup/modules/base/raw3-b1.launch
new file mode 100644
index 000000000..3dc8f4a2b
--- /dev/null
+++ b/cob_bringup/modules/base/raw3-b1.launch
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="raw3-b1"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
+	</include>
+
+	<include file="$(find cob_bringup)/bundles/base_legacy.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/raw3-b3.launch b/cob_bringup/modules/base/raw3-b3.launch
new file mode 100644
index 000000000..51535346f
--- /dev/null
+++ b/cob_bringup/modules/base/raw3-b3.launch
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="raw3-b3"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<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]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<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]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
+	</include>
+
+	<include file="$(find cob_bringup)/bundles/base_legacy.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/raw3-b5.launch b/cob_bringup/modules/base/raw3-b5.launch
new file mode 100644
index 000000000..184bf7837
--- /dev/null
+++ b/cob_bringup/modules/base/raw3-b5.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="base" value="raw3-b5"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
+		<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]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="host" value="141.3.80.115"/>
+		<arg name="inverted" value="true"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
+	</include>
+
+	<include file="$(find cob_bringup)/bundles/base_raw3.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="can_device" value="can1" />
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/sensorring/cob4-s3.launch b/cob_bringup/modules/sensorring/cob4-s3.launch
new file mode 100644
index 000000000..9f3a68fd2
--- /dev/null
+++ b/cob_bringup/modules/sensorring/cob4-s3.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sensorring" value="cob4-s3"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(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/base_solo.launch b/cob_bringup/robots/base_solo.launch
index d3832b12c..e68c7d1a0 100644
--- a/cob_bringup/robots/base_solo.launch
+++ b/cob_bringup/robots/base_solo.launch
@@ -2,6 +2,7 @@
 <launch>
 
 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="use_old_base_drive_chain" default="false"/>
 
@@ -16,11 +17,12 @@
 	<!-- start robot_state_publisher -->
 	<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
 
-	<include unless="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/components/cob4_base.launch">
+	<include unless="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/bundles/base_cob4.launch"/>
+		<arg name="base" value="$(arg base)"/>
 	</include>
 
-	<include if="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/components/legacy_base.launch">
-		<arg name="robot" value="$(arg robot)"/>
+	<include if="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/bundles/base_legacy.launch">
+		<arg name="base" value="$(arg base)"/>
 	</include>
 
 	<!-- start relayboard -->
@@ -30,6 +32,10 @@
 	</include>
 
 	<!-- start teleop -->
+	<include file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
 	<include file="$(find cob_bringup)/tools/teleop.launch">
 		<arg name="robot" value="$(arg robot)"/>
 	</include>
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 91f616c0c..308fe2020 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -12,6 +12,9 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b7"/>
+	<arg name="torso" value="cob4-t7"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,34 +41,19 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+
+		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
+		<include file="$(find cob_bringup)/drivers/bms.launch">
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<include file="$(find cob_bringup)/drivers/light.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="light_base"/>
@@ -73,9 +61,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
@@ -93,7 +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)"/>
@@ -121,13 +105,11 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
-			<arg name="robot" value="$(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)/components/cam3d_openni2.launch">
+
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
 			<arg name="device_id" value="#1"/>
@@ -163,7 +145,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_r200_rgbd.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_down"/>
 			<arg name="num_worker_threads" value="2"/>
@@ -183,7 +165,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_left"/>
 			<arg name="device_id" value="#1"/>
@@ -205,7 +187,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="sensorring_cam3d"/>
 			<arg name="data_skip" value="3"/>
@@ -225,7 +207,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cob4_head_camera.launch">
+		<include file="$(find cob_bringup)/bundles/camera_cob4_head.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index 0827845d9..feaf5223a 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -6,6 +6,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b3"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -26,12 +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)/components/cob4_base.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 77db2c397..0e9d4f71d 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b4"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -27,12 +29,12 @@
 			</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)/components/cob4_base.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/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index 0098b54cb..1763db27b 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -12,6 +12,13 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<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="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,34 +45,19 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(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="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+
+		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
+		<include file="$(find cob_bringup)/drivers/bms.launch">
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<include file="$(find cob_bringup)/drivers/light.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="light_base"/>
@@ -73,9 +65,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
@@ -93,7 +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)"/>
@@ -121,28 +109,22 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
-			<arg name="robot" value="$(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)/components/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)/components/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)/components/legacy_sdhx.launch">
-			<arg name="robot" value="$(arg robot)"/>
+
+		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
+			<arg name="module" value="$(arg gripper_right)"/>
 			<arg name="component_name" value="gripper_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
@@ -170,7 +152,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
 			<arg name="device_id" value="#1"/>
@@ -190,22 +172,22 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_left"/>
 			<arg name="device_id" value="#1"/>
 			<arg name="start_manager" value="false"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_r200_rgbd.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_down"/>
 			<arg name="start_manager" value="false"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/legacy_sdhx.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
+			<arg name="module" value="$(arg gripper_left)"/>
 			<arg name="component_name" value="gripper_left"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
@@ -226,7 +208,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="sensorring_cam3d_back"/>
 			<arg name="device_id" value="#1"/>
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index 6c720949d..ca6cb3d44 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b6"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -27,12 +29,12 @@
 			</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)/components/cob4_base.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/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index 6633c8fef..e818c7845 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -12,6 +12,9 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b8"/>
+	<arg name="torso" value="cob4-t2"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,34 +41,19 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="true"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<include file="$(find cob_bringup)/drivers/light.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="light_base"/>
@@ -73,9 +61,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
@@ -93,7 +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)"/>
@@ -121,13 +105,11 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
-			<arg name="robot" value="$(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)/components/cam3d_openni2.launch">
+
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
 			<arg name="device_id" value="#1"/>
@@ -163,7 +145,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_r200_rgbd.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_down"/>
 			<arg name="num_worker_threads" value="2"/>
@@ -183,7 +165,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_left"/>
 			<arg name="device_id" value="#1"/>
@@ -205,7 +187,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="sensorring_cam3d"/>
 			<arg name="data_skip" value="3"/>
@@ -228,7 +210,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cob4_head_camera.launch">
+		<include file="$(find cob_bringup)/bundles/camera_cob4_head.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/component_solo_canopen.launch b/cob_bringup/robots/component_solo_canopen.launch
index eb7a9dfec..00c68ff29 100644
--- a/cob_bringup/robots/component_solo_canopen.launch
+++ b/cob_bringup/robots/component_solo_canopen.launch
@@ -17,7 +17,7 @@
 	</include>
 
 	<!-- start driver -->
-	<include file="$(find cob_bringup)/components/canopen_generic.launch">
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 		<arg name="robot" value="$(arg robot)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index ba274a96c..6e80bc027 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -10,6 +10,10 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b1"/>
+	<arg name="torso" value="raw3-t1"/>
+	<arg name="arm" value="raw3-ur1"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -45,27 +49,16 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/components/legacy_base.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/legacy_schunk_powercube.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="module" value="$(arg arm)"/>
 			<arg name="use_modern_driver" value="false"/>
 			<arg name="robot_ip" value="$(arg ur_ip)"/>
 			<arg name="sim" value="$(arg sim)"/>
@@ -73,9 +66,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/battery_monitor.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index be3cd37cd..d2cc80ed3 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -10,6 +10,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b3"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -36,21 +38,11 @@
 			<include if="$(arg use_rplidar)" file="$(find rplidar_ros)/launch/rplidar.launch"/>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/legacy_base.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<!--include file="$(find cob_bringup)/components/canopen_generic.launch">
+
+		<!--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="can1"/>
@@ -58,9 +50,6 @@
 		</include-->
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/battery_monitor.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
diff --git a/cob_bringup/robots/raw3-5.xml b/cob_bringup/robots/raw3-5.xml
index 6c0ad9e54..69f70303e 100644
--- a/cob_bringup/robots/raw3-5.xml
+++ b/cob_bringup/robots/raw3-5.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b5"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -30,14 +32,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
@@ -55,16 +50,10 @@
 		<include file="$(find cob_bringup)/tools/battery_monitor.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
-		<include file="$(find cob_bringup)/components/raw3_base.launch" >
-			<arg name="robot" value="$(arg robot)" />
-			<arg name="can_device" value="can1" />
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 
 		<!-- start additional packages -->
 		<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
 			<arg name="robot" value="$(arg robot)" />
-
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
diff --git a/cob_bringup/tools/teleop.launch b/cob_bringup/tools/teleop.launch
index 4c4952520..35a2414ca 100644
--- a/cob_bringup/tools/teleop.launch
+++ b/cob_bringup/tools/teleop.launch
@@ -3,12 +3,6 @@
 
 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
-	<arg name="sim" default="false"/>
-
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
-	</include>
 
 	<node ns="teleop" pkg="cob_teleop" type="cob_teleop" name="$(anon teleop_node)" cwd="node" respawn="false" output="screen">
 		<rosparam file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/teleop.yaml" command="load"/>
diff --git a/cob_bringup/tools/twist_mux.launch b/cob_bringup/tools/twist_mux.launch
index c5cd2b72a..4d009ae4c 100644
--- a/cob_bringup/tools/twist_mux.launch
+++ b/cob_bringup/tools/twist_mux.launch
@@ -1,12 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<arg name="cmd_vel_out" default="base/velocity_smoother/raw_cmd_vel"/>
 	<arg name="marker_out" default="base/twist_mux/marker"/>
-	<arg name="config_locks"  default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/twist_mux_locks.yaml"/>
-	<arg name="config_topics" default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/twist_mux_topics.yaml"/>
+	<arg name="config_locks"  default="$(find cob_hardware_config)/modules/base/common/twist_mux_locks.yaml"/>
+	<arg name="config_topics" default="$(find cob_hardware_config)/modules/base/common/twist_mux_topics.yaml"/>
 
 	<node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen">
 		<remap from="cmd_vel_out" to="$(arg cmd_vel_out)"/>
diff --git a/cob_bringup/tools/velocity_smoother.launch b/cob_bringup/tools/velocity_smoother.launch
index fb850a779..c1cbb9b6b 100644
--- a/cob_bringup/tools/velocity_smoother.launch
+++ b/cob_bringup/tools/velocity_smoother.launch
@@ -3,12 +3,12 @@
 	YOCS velocity smoother launcher
 	-->
 <launch>
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<arg name="node_name"             default="velocity_smoother"/>
 	<arg name="nodelet_manager_name"  default="base_nodelet_manager"/>
-	<arg name="config_file"           default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+	<arg name="config_file"           default="$(arg pkg_hardware_config)/modules/base/$(arg base)/velocity_smoother.yaml"/>
 	<arg name="raw_cmd_vel_topic"     default="base/velocity_smoother/raw_cmd_vel"/>
 	<arg name="smooth_cmd_vel_topic"  default="base/twist_controller/command"/>
 	<arg name="robot_cmd_vel_topic"   default="base/twist_controller/command"/>
diff --git a/cob_hardware_config/CMakeLists.txt b/cob_hardware_config/CMakeLists.txt
index eeb1bbba2..4ce057271 100644
--- a/cob_hardware_config/CMakeLists.txt
+++ b/cob_hardware_config/CMakeLists.txt
@@ -18,7 +18,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY robots test
+install(DIRECTORY components modules robots test
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml b/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml
new file mode 100644
index 000000000..4aa8df13a
--- /dev/null
+++ b/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml
@@ -0,0 +1,3 @@
+angle_resolution: 0.25 #deg
+scan_frequency: 25 #hz
+set_config: false
diff --git a/cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml b/cob_hardware_config/components/sick_s300/sick_s300.yaml
similarity index 56%
rename from cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml
rename to cob_hardware_config/components/sick_s300/sick_s300.yaml
index 4adc524b0..808357da4 100644
--- a/cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml
+++ b/cob_hardware_config/components/sick_s300/sick_s300.yaml
@@ -1,9 +1,4 @@
-port: /dev/ttyUSB0
 baud: 500000
 scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
 scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_rear_link
 publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
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 93%
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
index f0595eba5..fee6fdd7f 100644
--- a/cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml
+++ b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_driver.yaml
@@ -4,7 +4,7 @@ sync:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Schunk_0_63.dcf"
+  eds_file: "modules/common/Schunk_0_63.dcf"
 
   #the following scaling is due to 16bit value range limitation of velocity command in vl mode (2)
   vel_to_device: "rint(rad2deg(vel)*250)"
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 93%
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
index a5cc67f5e..71ad73288 100644
--- a/cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml
+++ b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_driver.yaml
@@ -4,7 +4,7 @@ sync:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Schunk_0_63.dcf"
+  eds_file: "modules/common/Schunk_0_63.dcf"
 
   #the following scaling is due to 16bit value range limitation of velocity command in vl mode (2)
   vel_to_device: "rint(rad2deg(vel)*250)"
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/raw3-1/config/arm_cartesian_controller.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_cartesian_controller.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/arm_controller.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_controller.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/arm_joint_limits.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_joint_limits.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/arm_self_collision.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_self_collision.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_self_collision.yaml
diff --git a/cob_hardware_config/robots/cob4-3/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b3/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-3/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b3/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-3/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b3/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-3/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b3/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b3/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b3/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-4/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b4/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-4/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b4/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-4/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b4/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-4/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b4/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-3/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b4/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-3/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b4/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b5/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b5/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_front.xml b/cob_hardware_config/modules/base/cob4-b5/base_laser_front.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_laser_front.xml
rename to cob_hardware_config/modules/base/cob4-b5/base_laser_front.xml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_left.xml b/cob_hardware_config/modules/base/cob4-b5/base_laser_left.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_laser_left.xml
rename to cob_hardware_config/modules/base/cob4-b5/base_laser_left.xml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_right.xml b/cob_hardware_config/modules/base/cob4-b5/base_laser_right.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_laser_right.xml
rename to cob_hardware_config/modules/base/cob4-b5/base_laser_right.xml
diff --git a/cob_hardware_config/robots/cob4-5/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b5/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b5/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-4/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b5/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-4/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b5/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-6/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b6/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-6/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b6/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-6/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b6/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-6/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b6/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b6/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b6/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b7/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b7/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_front.xml b/cob_hardware_config/modules/base/cob4-b7/base_laser_front.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_laser_front.xml
rename to cob_hardware_config/modules/base/cob4-b7/base_laser_front.xml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_left.xml b/cob_hardware_config/modules/base/cob4-b7/base_laser_left.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_laser_left.xml
rename to cob_hardware_config/modules/base/cob4-b7/base_laser_left.xml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_right.xml b/cob_hardware_config/modules/base/cob4-b7/base_laser_right.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_laser_right.xml
rename to cob_hardware_config/modules/base/cob4-b7/base_laser_right.xml
diff --git a/cob_hardware_config/robots/cob4-2/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b7/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b7/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-6/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b7/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-6/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b7/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b8/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b8/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_front.xml b/cob_hardware_config/modules/base/cob4-b8/base_laser_front.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_laser_front.xml
rename to cob_hardware_config/modules/base/cob4-b8/base_laser_front.xml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_left.xml b/cob_hardware_config/modules/base/cob4-b8/base_laser_left.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_laser_left.xml
rename to cob_hardware_config/modules/base/cob4-b8/base_laser_left.xml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_right.xml b/cob_hardware_config/modules/base/cob4-b8/base_laser_right.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_laser_right.xml
rename to cob_hardware_config/modules/base/cob4-b8/base_laser_right.xml
diff --git a/cob_hardware_config/robots/cob4-7/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b8/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b8/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b8/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b8/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/common/cob4_base_controller.yaml b/cob_hardware_config/modules/base/common/base_cob4_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/cob4_base_controller.yaml
rename to cob_hardware_config/modules/base/common/base_cob4_controller.yaml
diff --git a/cob_hardware_config/robots/common/cob4_base_driver.yaml b/cob_hardware_config/modules/base/common/base_cob4_driver.yaml
similarity index 97%
rename from cob_hardware_config/robots/common/cob4_base_driver.yaml
rename to cob_hardware_config/modules/base/common/base_cob4_driver.yaml
index 0eaf070a7..96877b090 100644
--- a/cob_hardware_config/robots/common/cob4_base_driver.yaml
+++ b/cob_hardware_config/modules/base/common/base_cob4_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
   dcf_overlay:
     "6083": "1000000" # profile acceleration
     "6084": "1000000" # profile deceleration
diff --git a/cob_hardware_config/robots/common/raw3_base_controller.yaml b/cob_hardware_config/modules/base/common/base_raw3_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/raw3_base_controller.yaml
rename to cob_hardware_config/modules/base/common/base_raw3_controller.yaml
diff --git a/cob_hardware_config/robots/common/raw3_base_driver.yaml b/cob_hardware_config/modules/base/common/base_raw3_driver.yaml
similarity index 98%
rename from cob_hardware_config/robots/common/raw3_base_driver.yaml
rename to cob_hardware_config/modules/base/common/base_raw3_driver.yaml
index 8fde724f4..a6da34f7e 100644
--- a/cob_hardware_config/robots/common/raw3_base_driver.yaml
+++ b/cob_hardware_config/modules/base/common/base_raw3_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/ElmoSimplIQ.dcf"
+  eds_file: "modules/common/ElmoSimplIQ.dcf"
   dcf_overlay:
     "606A": "1" # read velocity from velocity sensor
     "607F": "240000" # max profile velocity
diff --git a/cob_hardware_config/robots/common/twist_mux_locks.yaml b/cob_hardware_config/modules/base/common/twist_mux_locks.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/twist_mux_locks.yaml
rename to cob_hardware_config/modules/base/common/twist_mux_locks.yaml
diff --git a/cob_hardware_config/robots/common/twist_mux_topics.yaml b/cob_hardware_config/modules/base/common/twist_mux_topics.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/twist_mux_topics.yaml
rename to cob_hardware_config/modules/base/common/twist_mux_topics.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/base/CanCtrl.ini b/cob_hardware_config/modules/base/raw3-b1/base/CanCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/CanCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/CanCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/Interpolation.ini b/cob_hardware_config/modules/base/raw3-b1/base/Interpolation.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/Interpolation.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/Interpolation.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/MotionCtrl.ini b/cob_hardware_config/modules/base/raw3-b1/base/MotionCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/MotionCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/MotionCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/NetworkComm.ini b/cob_hardware_config/modules/base/raw3-b1/base/NetworkComm.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/NetworkComm.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/NetworkComm.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/Platform.ini b/cob_hardware_config/modules/base/raw3-b1/base/Platform.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/Platform.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/Platform.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/PltfIdent.ini b/cob_hardware_config/modules/base/raw3-b1/base/PltfIdent.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/PltfIdent.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/PltfIdent.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml b/cob_hardware_config/modules/base/raw3-b1/base_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base_controller.yaml
rename to cob_hardware_config/modules/base/raw3-b1/base_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/base_joint_limits.yaml b/cob_hardware_config/modules/base/raw3-b1/base_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base_joint_limits.yaml
rename to cob_hardware_config/modules/base/raw3-b1/base_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/raw3-b1/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/raw3-b1/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini b/cob_hardware_config/modules/base/raw3-b3/base/CanCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/CanCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini b/cob_hardware_config/modules/base/raw3-b3/base/Interpolation.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/Interpolation.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini b/cob_hardware_config/modules/base/raw3-b3/base/MotionCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/MotionCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini b/cob_hardware_config/modules/base/raw3-b3/base/NetworkComm.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/NetworkComm.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/Platform.ini b/cob_hardware_config/modules/base/raw3-b3/base/Platform.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/Platform.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/Platform.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini b/cob_hardware_config/modules/base/raw3-b3/base/PltfIdent.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/PltfIdent.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/modules/base/raw3-b3/base_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base_controller.yaml
rename to cob_hardware_config/modules/base/raw3-b3/base_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-3/config/base_joint_limits.yaml b/cob_hardware_config/modules/base/raw3-b3/base_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base_joint_limits.yaml
rename to cob_hardware_config/modules/base/raw3-b3/base_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-3/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/raw3-b3/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/raw3-b3/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/raw3-5/config/base_driver.yaml b/cob_hardware_config/modules/base/raw3-b5/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-5/config/base_driver.yaml
rename to cob_hardware_config/modules/base/raw3-b5/base_driver.yaml
diff --git a/cob_hardware_config/robots/raw3-5/config/base_joint_limits.yaml b/cob_hardware_config/modules/base/raw3-b5/base_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-5/config/base_joint_limits.yaml
rename to cob_hardware_config/modules/base/raw3-b5/base_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-5/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/raw3-b5/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-5/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/raw3-b5/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/common/Elmo.dcf b/cob_hardware_config/modules/common/Elmo.dcf
similarity index 100%
rename from cob_hardware_config/robots/common/Elmo.dcf
rename to cob_hardware_config/modules/common/Elmo.dcf
diff --git a/cob_hardware_config/robots/common/ElmoSimplIQ.dcf b/cob_hardware_config/modules/common/ElmoSimplIQ.dcf
similarity index 100%
rename from cob_hardware_config/robots/common/ElmoSimplIQ.dcf
rename to cob_hardware_config/modules/common/ElmoSimplIQ.dcf
diff --git a/cob_hardware_config/robots/common/Schunk_0_63.dcf b/cob_hardware_config/modules/common/Schunk_0_63.dcf
similarity index 100%
rename from cob_hardware_config/robots/common/Schunk_0_63.dcf
rename to cob_hardware_config/modules/common/Schunk_0_63.dcf
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 81%
rename from cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml
rename to cob_hardware_config/modules/sensorring/cob4-s3/sensorring_driver.yaml
index 80913d963..3eb255acb 100644
--- a/cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml
+++ b/cob_hardware_config/modules/sensorring/cob4-s3/sensorring_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
 
 nodes:
   - name: sensorring_joint
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/cob4-7/config/torso_driver.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_driver.yaml
similarity index 97%
rename from cob_hardware_config/robots/cob4-7/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_driver.yaml
index fe2033ffc..720965aa0 100644
--- a/cob_hardware_config/robots/cob4-7/config/torso_driver.yaml
+++ b/cob_hardware_config/modules/torso/cob4-t2/torso_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
   vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states
   motor_layer:
     switching_state: 4 # switched on - stop controller before switching modes
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/cob4-2/config/torso_driver.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_driver.yaml
similarity index 97%
rename from cob_hardware_config/robots/cob4-2/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_driver.yaml
index fe2033ffc..720965aa0 100644
--- a/cob_hardware_config/robots/cob4-2/config/torso_driver.yaml
+++ b/cob_hardware_config/modules/torso/cob4-t7/torso_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
   vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states
   motor_layer:
     switching_state: 4 # switched on - stop controller before switching modes
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
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/joy.yaml b/cob_hardware_config/robots/cob4-2/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-2/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-2/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-2/config/scan_unifier_config.yaml
deleted file mode 100644
index 19e563d25..000000000
--- a/cob_hardware_config/robots/cob4-2/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/cob4-2/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-2/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-2/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-2/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-2/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-2/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-3/config/joy.yaml b/cob_hardware_config/robots/cob4-3/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-3/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-3/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-3/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-3/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-3/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-3/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-3/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-4/config/joy.yaml b/cob_hardware_config/robots/cob4-4/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-4/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-4/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-4/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-4/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-4/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-4/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-4/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/joy.yaml b/cob_hardware_config/robots/cob4-5/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-5/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-5/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-5/config/scan_unifier_config.yaml
deleted file mode 100644
index f7749be0f..000000000
--- a/cob_hardware_config/robots/cob4-5/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"]
-loop_rate: 10
diff --git a/cob_hardware_config/robots/cob4-5/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-5/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-5/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-5/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-5/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-5/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-6/config/joy.yaml b/cob_hardware_config/robots/cob4-6/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-6/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-6/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-6/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-6/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-6/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-6/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-6/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/joy.yaml b/cob_hardware_config/robots/cob4-7/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-7/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-7/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-7/config/scan_unifier_config.yaml
deleted file mode 100644
index 19e563d25..000000000
--- a/cob_hardware_config/robots/cob4-7/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/cob4-7/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-7/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-7/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-7/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-7/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-7/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml
deleted file mode 100644
index c69a181c3..000000000
--- a/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScan0
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml
deleted file mode 100644
index 64c170eba..000000000
--- a/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScan1
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_rear_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-1/config/joy.yaml b/cob_hardware_config/robots/raw3-1/config/joy.yaml
deleted file mode 100644
index f1ac16012..000000000
--- a/cob_hardware_config/robots/raw3-1/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/input/js0
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/raw3-1/config/scan_unifier_config.yaml b/cob_hardware_config/robots/raw3-1/config/scan_unifier_config.yaml
deleted file mode 100644
index 8ebaa85f0..000000000
--- a/cob_hardware_config/robots/raw3-1/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_rear/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/raw3-1/config/twist_mux_locks.yaml b/cob_hardware_config/robots/raw3-1/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/raw3-1/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-1/config/twist_mux_topics.yaml b/cob_hardware_config/robots/raw3-1/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/raw3-1/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml
deleted file mode 100644
index 1f1b855b0..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyUSB1
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-3/config/joy.yaml b/cob_hardware_config/robots/raw3-3/config/joy.yaml
deleted file mode 100644
index f1ac16012..000000000
--- a/cob_hardware_config/robots/raw3-3/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/input/js0
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/raw3-3/config/scan_unifier_config.yaml b/cob_hardware_config/robots/raw3-3/config/scan_unifier_config.yaml
deleted file mode 100644
index 8ebaa85f0..000000000
--- a/cob_hardware_config/robots/raw3-3/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_rear/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/raw3-3/config/twist_mux_locks.yaml b/cob_hardware_config/robots/raw3-3/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/raw3-3/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-3/config/twist_mux_topics.yaml b/cob_hardware_config/robots/raw3-3/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/raw3-3/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml
deleted file mode 100644
index 27075848f..000000000
--- a/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-host: 141.3.80.116
-angle_resolution: 0.25 #deg
-scan_frequency: 25 #hz
-inverted: true
-frame_id: base_laser_front_link
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
-set_config: false
diff --git a/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml b/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml
deleted file mode 100644
index 187a2efda..000000000
--- a/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-host: 141.3.80.115
-angle_resolution: 0.25 #deg
-scan_frequency: 25 #hz
-inverted: true
-frame_id: base_laser_rear_link
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
-set_config: false
diff --git a/cob_hardware_config/robots/raw3-5/config/joy.yaml b/cob_hardware_config/robots/raw3-5/config/joy.yaml
deleted file mode 100644
index f1ac16012..000000000
--- a/cob_hardware_config/robots/raw3-5/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/input/js0
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/raw3-5/config/scan_unifier_config.yaml b/cob_hardware_config/robots/raw3-5/config/scan_unifier_config.yaml
deleted file mode 100644
index 8ebaa85f0..000000000
--- a/cob_hardware_config/robots/raw3-5/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_rear/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/raw3-5/config/twist_mux_locks.yaml b/cob_hardware_config/robots/raw3-5/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/raw3-5/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-5/config/twist_mux_topics.yaml b/cob_hardware_config/robots/raw3-5/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/raw3-5/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file