diff --git a/fetch_moveit_config/config/fetch.srdf b/fetch_moveit_config/config/fetch.srdf
index 259f0af3..60a7ecc1 100644
--- a/fetch_moveit_config/config/fetch.srdf
+++ b/fetch_moveit_config/config/fetch.srdf
@@ -48,7 +48,11 @@
     <disable_collisions link1="base_link" link2="shoulder_pan_link" reason="Never" />
     <disable_collisions link1="base_link" link2="torso_fixed_link" reason="Adjacent" />
     <disable_collisions link1="base_link" link2="torso_lift_link" reason="Adjacent" />
-    <disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="fl_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="fr_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="bl_caster_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="br_caster_link" reason="Adjacent" />
+    <!-- <disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" /> -->
     <disable_collisions link1="bellows_link" link2="bellows_link2" reason="Default" />
     <disable_collisions link1="bellows_link" link2="elbow_flex_link" reason="Never" />
     <disable_collisions link1="bellows_link" link2="estop_link" reason="Never" />
@@ -90,7 +94,7 @@
     <disable_collisions link1="estop_link" link2="head_tilt_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="l_wheel_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="laser_link" reason="Never" />
-    <disable_collisions link1="estop_link" link2="r_gripper_finger_link" reason="Never" />
+    <!-- <disable_collisions link1="estop_link" link2="r_gripper_finger_link" reason="Never" /> -->
     <disable_collisions link1="estop_link" link2="r_wheel_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="shoulder_lift_link" reason="Never" />
     <disable_collisions link1="estop_link" link2="shoulder_pan_link" reason="Never" />