diff --git a/nextage_moveit_config/config/NextageOpen.srdf b/nextage_moveit_config/config/NextageOpen.srdf
index fee3cda4..2c1b82d5 100644
--- a/nextage_moveit_config/config/NextageOpen.srdf
+++ b/nextage_moveit_config/config/NextageOpen.srdf
@@ -46,9 +46,18 @@
         <joint name="LARM_JOINT5" />
     </group>
     <group name="botharms">
-        <group name="right_arm" />
-        <group name="left_arm" />
-        <group name="torso" />
+        <joint name="LARM_JOINT0" />
+        <joint name="LARM_JOINT1" />
+        <joint name="LARM_JOINT2" />
+        <joint name="LARM_JOINT3" />
+        <joint name="LARM_JOINT4" />
+        <joint name="LARM_JOINT5" /> 
+        <joint name="RARM_JOINT0" />
+        <joint name="RARM_JOINT1" />
+        <joint name="RARM_JOINT2" />
+        <joint name="RARM_JOINT3" />
+        <joint name="RARM_JOINT4" />
+        <joint name="RARM_JOINT5" />       
     </group>
     <group name="head">
         <joint name="HEAD_JOINT0" />
diff --git a/nextage_moveit_config/config/controllers.yaml b/nextage_moveit_config/config/controllers.yaml
index 2b35b732..6c222da6 100644
--- a/nextage_moveit_config/config/controllers.yaml
+++ b/nextage_moveit_config/config/controllers.yaml
@@ -20,6 +20,22 @@ controller_list:
       - LARM_JOINT3
       - LARM_JOINT4
       - LARM_JOINT5
+  - name: botharms_controller
+    action_ns: follow_joint_trajectory_action
+    default: true
+    joints:
+      - LARM_JOINT0
+      - LARM_JOINT1
+      - LARM_JOINT2
+      - LARM_JOINT3
+      - LARM_JOINT4
+      - LARM_JOINT5      
+      - RARM_JOINT0
+      - RARM_JOINT1
+      - RARM_JOINT2
+      - RARM_JOINT3
+      - RARM_JOINT4
+      - RARM_JOINT5
   - name: head_controller
     action_ns: follow_joint_trajectory_action
     joints:
diff --git a/nextage_moveit_config/config/kinematics_ikfast.yaml b/nextage_moveit_config/config/kinematics_ikfast.yaml
index bf5bd0b9..91e6ad69 100644
--- a/nextage_moveit_config/config/kinematics_ikfast.yaml
+++ b/nextage_moveit_config/config/kinematics_ikfast.yaml
@@ -8,6 +8,11 @@ left_arm:
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
   kinematics_solver_attempts: 3
+botharms:
+  kinematics_solver: nextage_right_arm_kinematics/IKFastKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3
 head:
   kinematics_solver: nextage_right_arm_kinematics/IKFastKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
diff --git a/nextage_moveit_config/config/kinematics_kdl.yaml b/nextage_moveit_config/config/kinematics_kdl.yaml
index 57a6e9b2..4b2a1081 100644
--- a/nextage_moveit_config/config/kinematics_kdl.yaml
+++ b/nextage_moveit_config/config/kinematics_kdl.yaml
@@ -8,6 +8,11 @@ left_arm:
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
   kinematics_solver_attempts: 3
+botharms:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3
 head:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
diff --git a/nextage_moveit_config/config/ompl_planning.yaml b/nextage_moveit_config/config/ompl_planning.yaml
index 1c7d6eb9..f3f22316 100644
--- a/nextage_moveit_config/config/ompl_planning.yaml
+++ b/nextage_moveit_config/config/ompl_planning.yaml
@@ -64,7 +64,7 @@ botharms:
     - TRRTkConfigDefault
     - PRMkConfigDefault
     - PRMstarkConfigDefault
-  projection_evaluator: joints(LARM_JOINT0,LARM_JOINT1)
+  projection_evaluator: joints(LARM_JOINT0,RARM_JOINT0)
   longest_valid_segment_fraction: 0.05
 head:
   planner_configs: