What's the right commands for starting Baxter's Gazebo and MoveIt!?

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This thread helped me to run the following commands for MoveIt! along with baxter_gazebo.

roslaunch baxter_gazebo baxter_world.launch
rosrun baxter_interface joint_trajectory_action_server.py -l both
roslaunch baxter_moveit_config demo_baxter.launch

And as usual with Baxter, the robot is "enabled" by rosrun baxter_tools enable_robot.py -e in advance.

Init pose of the robots on both RViz and Gazebo look coordinated, but MoveIt! never succeeds in planning. It says Start state appears to be in collision with respect to group both_arms when MoveIt! is initialized but I'm not sure how to resolve it.

All is well! Everyone is happy! You can start planning now!

[ INFO] [1456444700.284449635, 239.399000000]: Ready to take MoveGroup commands for group both_arms.
[ INFO] [1456444700.284619271, 239.399000000]: Looking around: no
[ INFO] [1456444700.284762549, 239.399000000]: Replanning: no
[ INFO] [1456444741.755292645, 280.084000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1456444741.756526434, 280.084000000]: Found a contact between 'r_gripper_r_finger_tip' (type 'Robot link') and 'r_gripper_r_finger' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1456444741.756576843, 280.084000000]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1456444741.756623440, 280.084000000]: Start state appears to be in collision with respect to group both_arms
[ WARN] [1456444742.559982065, 280.880000000]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.050000 and 100 sampling attempts). Passing the original planning request to the planner.
[ INFO] [1456444742.561598014, 280.881000000]: Planner configuration 'both_arms[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1456444742.562711130, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.562794759, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.562921643, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ WARN] [1456444742.563062573, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563118444, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ERROR] [1456444742.563165882, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563367340, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563404655, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563467942, 280.883000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.001411 seconds
[ WARN] [1456444742.563581499, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ WARN] [1456444742.563622325, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563673372, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563717336, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563765615, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ERROR] [1456444742.563803511, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563862642, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563912097, 280.883000000]: both_arms[RRTConnectkConfigDefault ...