Hi,

Currently I am developing 4 dof robotic arm using ROS noetic. The design of the arm is given in the link below.

https://drive.google.com/file/d/16kKYye558Yjfkj5TwAGH3gOh8MVs_HYt/view?usp=sharing

The motor which controls the joint 02 is attached in the base and it is controlled using a belt as shown in the diagram. But the problem is that when I move the joint 01, the link attached to the joint 02 also moves because of the belt connection. So how can I configure the urdf to a situation like this?