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When creating urdf.

1.I have a 3D model file, but I do not want to be required to make a large calculation due to collision confirmation when creating a trajectory.

Is this an important issue, and is it therefore possible to create and use a simple link?

  1. I want to create a manipulator with a simple link.

At this time,

a) After creating a wheel with the axis rpy ="-${pi/2} 0 0" at the origin, set the axis to axis=" 0 0 1 "

b) After leaving the axis as is at the origin, create the wheel as a square and express only the axis as axis="0 1 0"

Is there a big difference between the two?

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