可以采用下述配置完成：

xacro <!-- Macro for a minimal collision block (for when you do not want collision block but gazebo needs one) --> <xacro:macro name="no_collision"> <collision> <geometry> <cylinder length="${0.000001}" radius="${0.000001}" /> </geometry> <origin xyz="0 0 0" rpy="0 ${0.5*pi} 0"/> </collision> </xacro:macro> urdf <collision> <geometry> <cylinder length="0.000001" radius="0.000001" /> </geometry> <origin xyz="0 0 0" rpy="0 1.57 0"/> </collision>