<robot>
  <gripper name="tooltip" clearance="0.0">
    <position xyz="0 0 0.037" xyzw="0 0 0 1"/>
    <link name="tool_link"/>
  </gripper>
  <disable_collisions link1="base_link" link2="link_1" reason="neighbors"/>
  <disable_collisions link1="link_1" link2="link_2" reason="neighbors"/>
  <disable_collisions link1="link_2" link2="link_3" reason="neighbors"/>
  <disable_collisions link1="link_3" link2="link_4" reason="neighbors"/>
  <disable_collisions link1="link_3" link2="link_5" reason="neighbors"/>
  <disable_collisions link1="link_4" link2="link_5" reason="neighbors"/>
  <disable_collisions link1="link_5" link2="link_6" reason="neighbors"/>
  <disable_collisions link1="link_6" link2="tool" reason="neighbors"/>
</robot>
