diff --git a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml
index d62ddbdd..0492739b 100644
--- a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml
+++ b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml
@@ -31,7 +31,7 @@ joint_trajectory_controller:
       - velocity
     state_publish_rate: 100.0
     action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
+    allow_partial_joints_goal: true
     constraints:
       stopped_velocity_tolerance: 0.0
       goal_time: 0.0
diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf
index 6f256a95..998d5f9e 100644
--- a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf
+++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf
@@ -10,16 +10,45 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="gen3_lite_arm">
+        <joint name="base_joint"/>
         <joint name="joint_1"/>
         <joint name="joint_2"/>
         <joint name="joint_3"/>
         <joint name="joint_4"/>
         <joint name="joint_5"/>
         <joint name="joint_6"/>
+        <joint name="end_effector"/>
+    </group>
+    <group name="gen3_lite_gripper">
+        <joint name="gripper_base_joint"/>
+        <joint name="left_finger_bottom_joint"/>
         <joint name="right_finger_bottom_joint"/>
     </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="vertical" group="gen3_lite_arm">
+        <joint name="joint_1" value="0"/>
+        <joint name="joint_2" value="0"/>
+        <joint name="joint_3" value="0"/>
+        <joint name="joint_4" value="0"/>
+        <joint name="joint_5" value="0"/>
+        <joint name="joint_6" value="0"/>
+    </group_state>
+    <group_state name="home" group="gen3_lite_arm">
+        <joint name="joint_1" value="0"/>
+        <joint name="joint_2" value="0.2229"/>
+        <joint name="joint_3" value="2.6306"/>
+        <joint name="joint_4" value="-1.5707"/>
+        <joint name="joint_5" value="-0.355"/>
+        <joint name="joint_6" value="1.5707"/>
+    </group_state>
+    <group_state name="open" group="gen3_lite_gripper">
+        <joint name="right_finger_bottom_joint" value="0"/>
+    </group_state>
+    <group_state name="closed" group="gen3_lite_gripper">
+        <joint name="right_finger_bottom_joint" value="0.775"/>
+    </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="gen3_lite_gripper" parent_link="end_effector_link" group="gen3_lite_arm"/>
+    <end_effector name="gen3_lite_gripper" parent_link="end_effector_link" group="gen3_lite_gripper"/>
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="left_finger_bottom_joint"/>
     <passive_joint name="left_finger_tip_joint"/>
@@ -46,7 +75,6 @@
     <disable_collisions link1="gripper_base_link" link2="upper_wrist_link" reason="Adjacent"/>
     <disable_collisions link1="left_finger_dist_link" link2="left_finger_prox_link" reason="Adjacent"/>
     <disable_collisions link1="left_finger_dist_link" link2="lower_wrist_link" reason="Never"/>
-    <disable_collisions link1="left_finger_dist_link" link2="right_finger_dist_link" reason="User"/>
     <disable_collisions link1="left_finger_dist_link" link2="right_finger_prox_link" reason="Never"/>
     <disable_collisions link1="left_finger_dist_link" link2="upper_wrist_link" reason="Never"/>
     <disable_collisions link1="left_finger_prox_link" link2="lower_wrist_link" reason="Never"/>
diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml
index 5f1d81b6..7325a284 100644
--- a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml
+++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml
@@ -2,3 +2,7 @@ gen3_lite_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
   kinematics_solver_timeout: 0.0050000000000000001
+gen3_lite_gripper:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
\ No newline at end of file