hw_link_wiki

The torso safe command checks the moveit scene before sending the goal to the torso.

When adding a new link or changing the name of a link to the robot urdf, you should run the moveit_setup_assistant to create a new srdf file with the updated links to avoid this happening. ​

In the tiago_movit_config package you can modify the srdf that corresponds to your TIAGo configuration (Tiago single arm, no ft sensor, pal gripper) In your case:

https://github.com/pal-robotics/tiago_moveit_config/blob/kinetic-devel/config/srdf/tiago_pal-gripper.srdf ​

You can use the moveit_setup_assistant by setting up the updated urdf and the older srdf to update the collisions after sourcing your workspace:

rosrun moveit_setup_assistant collisions_updater --help