diff --git a/rbs_mill_assist/srdf/rbs_arm.srdf b/rbs_mill_assist/srdf/rbs_arm.srdf
index d3e77a7..b44cb52 100644
--- a/rbs_mill_assist/srdf/rbs_arm.srdf
+++ b/rbs_mill_assist/srdf/rbs_arm.srdf
@@ -23,15 +23,12 @@
 
     <disable_collisions link1="Link1" link2="Link2" reason="Adjacent"/>
     <disable_collisions link1="Link1" link2="base_link" reason="Adjacent"/>
-    <disable_collisions link1="Link1" link2="rgbd_camera" reason="Adjacent"/>
     <disable_collisions link1="Link2" link2="Link3" reason="Adjacent"/>
     <disable_collisions link1="Link2" link2="Link5" reason="Never"/>
     <disable_collisions link1="Link2" link2="base_link" reason="Never"/>
-    <disable_collisions link1="Link2" link2="rgbd_camera" reason="Never"/>
     <disable_collisions link1="Link3" link2="Link4" reason="Adjacent"/>
     <disable_collisions link1="Link3" link2="Link5" reason="Never"/>
     <disable_collisions link1="Link3" link2="left_contact_panel" reason="Never"/>
-    <disable_collisions link1="Link3" link2="rgbd_camera" reason="Never"/>
     <disable_collisions link1="Link4" link2="Link5" reason="Adjacent"/>
     <disable_collisions link1="Link4" link2="Link6" reason="Never"/>
     <disable_collisions link1="Link4" link2="Link7" reason="Never"/>
@@ -49,13 +46,8 @@
     <disable_collisions link1="Link6" link2="right_contact_panel" reason="Never"/>
     <disable_collisions link1="Link7" link2="Link8" reason="Never"/>
     <disable_collisions link1="Link7" link2="left_contact_panel" reason="Adjacent"/>
-    <disable_collisions link1="Link7" link2="rgbd_camera" reason="Never"/>
     <disable_collisions link1="Link7" link2="right_contact_panel" reason="Never"/>
     <disable_collisions link1="Link8" link2="left_contact_panel" reason="Never"/>
-    <disable_collisions link1="Link8" link2="rgbd_camera" reason="Never"/>
     <disable_collisions link1="Link8" link2="right_contact_panel" reason="Adjacent"/>
-    <disable_collisions link1="base_link" link2="rgbd_camera" reason="Never"/>
-    <disable_collisions link1="left_contact_panel" link2="rgbd_camera" reason="Never"/>
     <disable_collisions link1="left_contact_panel" link2="right_contact_panel" reason="Never"/>
-    <disable_collisions link1="rgbd_camera" link2="right_contact_panel" reason="Never"/>
 </robot>