diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index 51c59c7271c84db41285df863b7bc885ba5cef40..53ddcdf409507daee1aaa00ecc6d97c9b07fb61f 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -41,7 +41,6 @@
     <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
     <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
     <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
-    <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default" />
     <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
   </xacro:macro>
 </robot>
diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index 82d3097cc3ba2b74e4dea8feaef650b50c19a46b..39de54fafd3e0c547622e11689335dfdaa1d911c 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -32,7 +32,6 @@
   <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
   <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
   <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
-  <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default" />
   <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
   <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
   <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />