diff --git a/cmake b/cmake
index 91b8f5f2168b123a198da079b8e6c09fd1f60285..935e2154e02e84f147046278bfd64e27a5f0850a 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 91b8f5f2168b123a198da079b8e6c09fd1f60285
+Subproject commit 935e2154e02e84f147046278bfd64e27a5f0850a
diff --git a/robots/go2_description/collisions/base_body_convex.stl b/robots/go2_description/collisions/base_body_convex.stl
deleted file mode 100644
index 8206ada00fabbdbc05add78c30e9c68359d90820..0000000000000000000000000000000000000000
Binary files a/robots/go2_description/collisions/base_body_convex.stl and /dev/null differ
diff --git a/robots/go2_description/collisions/base_fl_support_convex.stl b/robots/go2_description/collisions/base_fl_support_convex.stl
deleted file mode 100644
index 77ed8e826dd408b423877f2d41b7f8b9cffee46c..0000000000000000000000000000000000000000
Binary files a/robots/go2_description/collisions/base_fl_support_convex.stl and /dev/null differ
diff --git a/robots/go2_description/collisions/base_fr_support_convex.stl b/robots/go2_description/collisions/base_fr_support_convex.stl
deleted file mode 100644
index 0bb7a7bae9034fd6a9c64e95b1d4d959e0c83f8a..0000000000000000000000000000000000000000
Binary files a/robots/go2_description/collisions/base_fr_support_convex.stl and /dev/null differ
diff --git a/robots/go2_description/collisions/base_head_convex.stl b/robots/go2_description/collisions/base_head_convex.stl
deleted file mode 100644
index cdd78973340ae7e042e276788c1a6cf970029da3..0000000000000000000000000000000000000000
Binary files a/robots/go2_description/collisions/base_head_convex.stl and /dev/null differ
diff --git a/robots/go2_description/collisions/base_neck_convex.stl b/robots/go2_description/collisions/base_neck_convex.stl
deleted file mode 100644
index 89b242fb9bbd88834eb31de2170fa3358ded01ee..0000000000000000000000000000000000000000
Binary files a/robots/go2_description/collisions/base_neck_convex.stl and /dev/null differ
diff --git a/robots/go2_description/collisions/base_rl_support_convex.stl b/robots/go2_description/collisions/base_rl_support_convex.stl
deleted file mode 100644
index c7374f53357eba1e865560a4f6e09c090d217d36..0000000000000000000000000000000000000000
Binary files a/robots/go2_description/collisions/base_rl_support_convex.stl and /dev/null differ
diff --git a/robots/go2_description/collisions/base_rr_support_convex.stl b/robots/go2_description/collisions/base_rr_support_convex.stl
deleted file mode 100644
index 7cf9409eb74558622ae3c6fc01ae4b871f9cab6e..0000000000000000000000000000000000000000
Binary files a/robots/go2_description/collisions/base_rr_support_convex.stl and /dev/null differ
diff --git a/robots/go2_description/urdf/go2.urdf b/robots/go2_description/urdf/go2.urdf
index 17bba31eb17d83eb20b96bd44b137d62d13a52c4..0dc3f23b2122f6089c1ea0965f078fea794b7b6f 100644
--- a/robots/go2_description/urdf/go2.urdf
+++ b/robots/go2_description/urdf/go2.urdf
@@ -64,9 +64,6 @@ Stephen Brawner (brawner@gmail.com)
           rgba="1 1 1 1" />
       </material>
     </visual>
-    <collision><geometry>
-        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
-    </geometry></collision>
   </link>
   <joint
     name="FL_hip_joint"
@@ -297,14 +294,6 @@ Stephen Brawner (brawner@gmail.com)
           rgba="1 1 1 1" />
       </material>
     </visual>
-    <collision>
-      <origin
-      xyz="0 0 0"
-      rpy="3.1415 0 0" />
-      <geometry>
-        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
-      </geometry>
-    </collision>
   </link>
   <joint
     name="FR_hip_joint"