diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant
index 475e26379112ad3688fed6100f61ed0d7a6fe44e..62dc90752844d1a25aee572083ba5f91a7e70f6c 100644
--- a/ur10_moveit_config/.setup_assistant
+++ b/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
diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf
index d63a4db2b67bb0ef5cbe53970841e62dcad05c7c..34566c81b0eed68e838f4e68723c7c1afbd342a3 100644
--- a/ur10_moveit_config/config/ur10.srdf
+++ b/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" />
diff --git a/ur10_moveit_config/package.xml b/ur10_moveit_config/package.xml
index 1507287d71fa2e9f5146873349e7253835f5eccf..fe87af34a3e31b601db47b60ce86acc722e43e66 100644
--- a/ur10_moveit_config/package.xml
+++ b/ur10_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <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>