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>
