diff --git a/robots/hyq_description/srdf/hyq.srdf b/robots/hyq_description/srdf/hyq.srdf
index 93f38e1f9eb808297dc83e5124889ecf25439d56..0889825b6eefbfbae4cf241a1442f518b326353e 100644
--- a/robots/hyq_description/srdf/hyq.srdf
+++ b/robots/hyq_description/srdf/hyq.srdf
@@ -114,10 +114,8 @@
     <disable_collisions link1="rf_lowerleg" link2="rf_foot" reason="Adjacent"/>
     <disable_collisions link1="rh_lowerleg" link2="rh_foot" reason="Adjacent"/>
     
-    <disable_collisions link1="lf_hipassembly" link2="lf_lowerleg" reason="Never" />
     <disable_collisions link1="lf_hipassembly" link2="rf_hipassembly" reason="Never" />
     <disable_collisions link1="lf_hipassembly" link2="rf_upperleg" reason="Never" />
-    <disable_collisions link1="lf_hipassembly" link2="rf_lowerleg" reason="Never" />
     <disable_collisions link1="lf_hipassembly" link2="lh_hipassembly" reason="Never" />
     <disable_collisions link1="lf_hipassembly" link2="lh_upperleg" reason="Never" />
     <disable_collisions link1="lf_hipassembly" link2="lh_lowerleg" reason="Never" />
@@ -125,9 +123,7 @@
     <disable_collisions link1="lf_hipassembly" link2="rh_upperleg" reason="Never" />
     <disable_collisions link1="lf_hipassembly" link2="rh_lowerleg" reason="Never" />
     
-    <disable_collisions link1="rf_hipassembly" link2="rf_lowerleg" reason="Never" />
     <disable_collisions link1="rf_hipassembly" link2="lf_upperleg" reason="Never" />
-    <disable_collisions link1="rf_hipassembly" link2="lf_lowerleg" reason="Never" />
     <disable_collisions link1="rf_hipassembly" link2="lh_hipassembly" reason="Never" />
     <disable_collisions link1="rf_hipassembly" link2="lh_upperleg" reason="Never" />
     <disable_collisions link1="rf_hipassembly" link2="lh_lowerleg" reason="Never" />
@@ -135,7 +131,6 @@
     <disable_collisions link1="rf_hipassembly" link2="rh_upperleg" reason="Never" />
     <disable_collisions link1="rf_hipassembly" link2="rh_lowerleg" reason="Never" />
     
-    <disable_collisions link1="lh_hipassembly" link2="lh_lowerleg" reason="Never" />
     <disable_collisions link1="lh_hipassembly" link2="rf_hipassembly" reason="Never" />
     <disable_collisions link1="lh_hipassembly" link2="rf_upperleg" reason="Never" />
     <disable_collisions link1="lh_hipassembly" link2="rf_lowerleg" reason="Never" />
@@ -143,15 +138,12 @@
     <disable_collisions link1="lh_hipassembly" link2="lf_lowerleg" reason="Never" />
     <disable_collisions link1="lh_hipassembly" link2="rh_hipassembly" reason="Never" />
     <disable_collisions link1="lh_hipassembly" link2="rh_upperleg" reason="Never" />
-    <disable_collisions link1="lh_hipassembly" link2="rh_lowerleg" reason="Never" />
     
-    <disable_collisions link1="rh_hipassembly" link2="rh_lowerleg" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="rf_hipassembly" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="rf_upperleg" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="rf_lowerleg" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="lh_hipassembly" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="lh_upperleg" reason="Never" />
-    <disable_collisions link1="rh_hipassembly" link2="lh_lowerleg" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="lf_upperleg" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="lf_lowerleg" reason="Never" />