diff --git a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
index 75ed478..42923e1 100644
--- a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
+++ b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
@@ -85,6 +85,7 @@
     <disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
+    <disable_collisions link1="LElbowDummy" link2="torso" reason="Never" />
     <disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
     <disable_collisions link1="LHip" link2="LHipYaw" reason="Adjacent" />
     <disable_collisions link1="LHip" link2="LKnee" reason="Never" />
@@ -103,7 +104,6 @@
     <disable_collisions link1="LHip" link2="neck" reason="Never" />
     <disable_collisions link1="LHip" link2="odroid" reason="Never" />
     <disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
-    <disable_collisions link1="LHip" link2="r_sole" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
     <disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
@@ -137,14 +137,17 @@
     <disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
+    <disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
     <disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
+    <disable_collisions link1="LKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="LKnee" link2="helmet" reason="Never" />
     <disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="neck" reason="Never" />
     <disable_collisions link1="LKnee" link2="odroid" reason="Never" />
     <disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
+    <disable_collisions link1="LKnee" link2="l_sole" reason="Adjacent" />
     <disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
@@ -173,20 +176,22 @@
     <disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="gaze" reason="Default" />
-    <disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="r_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
     <disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="RElbowDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
+    <disable_collisions link1="RElbowDummy" link2="torso" reason="Never" />
     <disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RKnee" reason="Never" />
@@ -224,10 +229,12 @@
     <disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="RKnee" link2="helmet" reason="Never" />
+    <disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RKnee" link2="neck" reason="Never" />
     <disable_collisions link1="RKnee" link2="odroid" reason="Never" />
     <disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
+    <disable_collisions link1="RKnee" link2="r_sole" reason="Adjacent" />
     <disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
@@ -241,7 +248,6 @@
     <disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
     <disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
-    <disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
@@ -266,11 +272,14 @@
     <disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
     <disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
+    <disable_collisions link1="l_ankle" link2="r_sole" reason="Never" />
     <disable_collisions link1="l_sole" link2="neck" reason="Never" />
     <disable_collisions link1="l_sole" link2="odroid" reason="Never" />
     <disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
+    <disable_collisions link1="l_sole" link2="RKnee" reason="Adjacent" />
     <disable_collisions link1="l_wrist" link2="neck" reason="Never" />
     <disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
     <disable_collisions link1="neck" link2="odroid" reason="Never" />
     <disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="neck" link2="r_ankle" reason="Never" />
@@ -286,5 +295,7 @@
     <disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="torso" reason="Never" />
+    <disable_collisions link1="r_ankle" link2="l_sole" reason="Never" />
     <disable_collisions link1="r_sole" link2="torso" reason="Never" />
+    <disable_collisions link1="r_sole" link2="LKnee" reason="Adjacent" />
 </robot>
diff --git a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
index 221a8ed..e1f9178 100644
--- a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
+++ b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
@@ -116,6 +116,7 @@
     <disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
+    <disable_collisions link1="LElbowDummy" link2="torso" reason="Never" />
     <disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
     <disable_collisions link1="LHip" link2="LHipYaw" reason="Adjacent" />
     <disable_collisions link1="LHip" link2="LKnee" reason="Never" />
@@ -134,7 +135,6 @@
     <disable_collisions link1="LHip" link2="neck" reason="Never" />
     <disable_collisions link1="LHip" link2="odroid" reason="Never" />
     <disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
-    <disable_collisions link1="LHip" link2="r_sole" reason="Never" />
     <disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
     <disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
     <disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
@@ -168,14 +168,17 @@
     <disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
+    <disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
     <disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
+    <disable_collisions link1="LKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="LKnee" link2="helmet" reason="Never" />
     <disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
     <disable_collisions link1="LKnee" link2="neck" reason="Never" />
     <disable_collisions link1="LKnee" link2="odroid" reason="Never" />
     <disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
+    <disable_collisions link1="LKnee" link2="l_sole" reason="Adjacent" />
     <disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
     <disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
@@ -204,20 +207,22 @@
     <disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="gaze" reason="Default" />
-    <disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
+    <disable_collisions link1="LShoulderDummy" link2="r_wrist" reason="Never" />
     <disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
     <disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
+    <disable_collisions link1="RElbowDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
+    <disable_collisions link1="RElbowDummy" link2="torso" reason="Never" />
     <disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
     <disable_collisions link1="RHip" link2="RKnee" reason="Never" />
@@ -255,10 +260,12 @@
     <disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
     <disable_collisions link1="RKnee" link2="gaze" reason="Never" />
     <disable_collisions link1="RKnee" link2="helmet" reason="Never" />
+    <disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RKnee" link2="neck" reason="Never" />
     <disable_collisions link1="RKnee" link2="odroid" reason="Never" />
     <disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
+    <disable_collisions link1="RKnee" link2="r_sole" reason="Adjacent" />
     <disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
     <disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
     <disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
@@ -272,7 +279,6 @@
     <disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
     <disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
-    <disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
     <disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
@@ -297,11 +303,14 @@
     <disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
     <disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
+    <disable_collisions link1="l_ankle" link2="r_sole" reason="Never" />
     <disable_collisions link1="l_sole" link2="neck" reason="Never" />
     <disable_collisions link1="l_sole" link2="odroid" reason="Never" />
     <disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
+    <disable_collisions link1="l_sole" link2="RKnee" reason="Adjacent" />
     <disable_collisions link1="l_wrist" link2="neck" reason="Never" />
     <disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
+    <disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
     <disable_collisions link1="neck" link2="odroid" reason="Never" />
     <disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
     <disable_collisions link1="neck" link2="r_ankle" reason="Never" />
@@ -317,5 +326,7 @@
     <disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
     <disable_collisions link1="r_ankle" link2="torso" reason="Never" />
+    <disable_collisions link1="r_ankle" link2="l_sole" reason="Never" />
     <disable_collisions link1="r_sole" link2="torso" reason="Never" />
+    <disable_collisions link1="r_sole" link2="LKnee" reason="Adjacent" />
 </robot>
diff --git a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
index d9b5a3e..dc02b1f 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
@@ -20,7 +20,7 @@
     </material>
 
     <material name="LightGrey">
-    	<color rgba="0.8 0.8 0.8 1.0"/>
+    	<color rgba="0.6 0.6 0.6 1.0"/>
 	</material>
 
     <!-- END OF MATERIALS -->