@tdl-ua: please see Adamsua-lab/motoman_ma2010_d500_waam_moveit_config#1, which is an example of how your setup could be approximated using the industrial_robot_client.
It’s not exactly how it would be with motoman_driver, but close enough to give you an idea.
Note: I’ve also changed your MoveIt configuration to use chains for the two groups and used trac_ik instead of KDL (with Distance solve type).
If/when you have your real hw, we can revisit this.
Note: this only gets you to the actual problem / challenge: planning for the combined scene (or at least: with kinematics involved).