Merge branch 'ur10_urdf_update' into ur10_moveit

Conflicts:
	ur10_moveit_config/.setup_assistant
	ur10_moveit_config/package.xml

ur10_moveit_config/.setup_assistant

@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/ur10.srdf
   CONFIG:
-    generated_timestamp: 1404841877
\ No newline at end of file
+    generated_timestamp: 1404841877

ur10_moveit_config/config/ur10.srdf

@@ -34,7 +34,14 @@
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="upper_arm_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
+    <disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never" />
     <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
     <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
     <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />

ur10_moveit_config/package.xml

 <package>
 
   <name>ur10_moveit_config</name>
-  <version>1.0.3</version>
+  <version>1.1.1</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the ur10 with the MoveIt Motion Planning Framework
   </description>