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how to add collision to walking actor.

It is said that link have to be child of model, but actor is not a model. But collision can be defined only in a link. My problem is that if I import walking_person from gazebos database into my world then it has collision, but if I define an actor in my world and add same link with collisions to my actor then it doesnt have collision still. Also i want the collision to be during walking. Any suggestions?