diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
index 8b66a32..ff6cd02 100644
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
@@ -31,104 +31,6 @@
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="hand" parent_link="tool2" group="gripper"/>
     <!--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" link2="gripper_base" reason="Never"/>
-    <disable_collisions link1="base" link2="gripper_left1" reason="Never"/>
-    <disable_collisions link1="base" link2="gripper_left2" reason="Never"/>
-    <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
-    <disable_collisions link1="base" link2="gripper_right1" reason="Never"/>
-    <disable_collisions link1="base" link2="gripper_right2" reason="Never"/>
-    <disable_collisions link1="base" link2="gripper_right3" reason="Default"/>
-    <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
-    <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
-    <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
-    <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
-    <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
-    <disable_collisions link1="gripper_base" link2="link1" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="tool1" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
-    <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
-    <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
-    <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="link1" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="link2" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="link3" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="tool1" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
-    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="link1" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="link2" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="link3" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="tool1" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
-    <disable_collisions link1="gripper_left3" link2="link1" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="link2" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="link3" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="tool1" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
-    <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
-    <disable_collisions link1="gripper_right1" link2="link1" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="tool1" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="link1" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="tool1" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
-    <disable_collisions link1="gripper_right3" link2="link6" reason="Default"/>
-    <disable_collisions link1="gripper_right3" link2="tool1" reason="Default"/>
-    <disable_collisions link1="gripper_right3" link2="tool2" reason="Default"/>
-    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
-    <disable_collisions link1="link1" link2="link3" reason="Never"/>
-    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
-    <disable_collisions link1="link2" link2="link4" reason="Never"/>
-    <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
-    <disable_collisions link1="link3" link2="link5" reason="Never"/>
-    <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
-    <disable_collisions link1="link4" link2="link6" reason="Never"/>
-    <disable_collisions link1="link4" link2="tool1" reason="Never"/>
-    <disable_collisions link1="link4" link2="tool2" reason="Never"/>
-    <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
-    <disable_collisions link1="link5" link2="tool1" reason="Never"/>
-    <disable_collisions link1="link5" link2="tool2" reason="Never"/>
-    <disable_collisions link1="link6" link2="tool1" reason="Adjacent"/>
-    <disable_collisions link1="link6" link2="tool2" reason="Never"/>
-    <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->
-
     <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
     <disable_collisions link1="base" link2="link2" reason="Never"/>
     <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>