diff --git a/kuka_iiwa_14/iiwa14.xml b/kuka_iiwa_14/iiwa14.xml
index adf4925c..7ddda365 100644
--- a/kuka_iiwa_14/iiwa14.xml
+++ b/kuka_iiwa_14/iiwa14.xml
@@ -150,6 +150,12 @@
 
   <contact>
     <exclude body1="base" body2="link1"/>
+    <exclude body1="base" body2="link2"/>
+    <exclude body1="base" body2="link3"/>
+    <exclude body1="link1" body2="link3"/>
+    <exclude body1="link3" body2="link5"/>
+    <exclude body1="link4" body2="link7"/>
+    <exclude body1="link5" body2="link7"/>
   </contact>
 
   <actuator>