From 5d598b4d94479c717789721b12486babc136b018 Mon Sep 17 00:00:00 2001
From: JackM323 <jackmkm33@gmail.com>
Date: Thu, 30 Jul 2026 17:23:50 +0200
Subject: [PATCH] Urdf update with collision

---
 JackBotUrdf.urdf | 152 ++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 151 insertions(+), 1 deletion(-)

diff --git a/JackBotUrdf.urdf b/JackBotUrdf.urdf
index b7d9f5c..1dd01c8 100644
--- a/JackBotUrdf.urdf
+++ b/JackBotUrdf.urdf
@@ -19,6 +19,12 @@
 				<color rgba="1 0 0 0.5"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<box size="0.160 0.120 0.090"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
+		</collision>
 	</link>
 
 	<!-- LEG 1 -->
@@ -40,6 +46,12 @@
 				<color rgba="0 1 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.068" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg1_coxa_joint" type="revolute">
 		<parent link="base_link"/>
@@ -68,6 +80,12 @@
 				<color rgba="0 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.0602" radius="0.005"/>
+			</geometry>
+			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg1_femur_joint" type="revolute">
 		<parent link="leg1_coxa"/>
@@ -95,6 +113,12 @@
 				<color rgba="0 1 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.07055" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg1_tibia_joint" type="revolute">
 		<parent link="leg1_femur"/>
@@ -122,6 +146,12 @@
 				<color rgba="1 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.01"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg1_tip_joint" type="fixed">
 		<parent link="leg1_tibia"/>
@@ -148,6 +178,12 @@
 				<color rgba="0 1 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.068" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg2_coxa_joint" type="revolute">
 		<parent link="base_link"/>
@@ -176,6 +212,12 @@
 				<color rgba="0 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.0602" radius="0.005"/>
+			</geometry>
+			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg2_femur_joint" type="revolute">
 		<parent link="leg2_coxa"/>
@@ -203,6 +245,12 @@
 				<color rgba="0 1 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.07055" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg2_tibia_joint" type="revolute">
 		<parent link="leg2_femur"/>
@@ -230,6 +278,12 @@
 				<color rgba="1 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.01"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg2_tip_joint" type="fixed">
 		<parent link="leg2_tibia"/>
@@ -256,6 +310,12 @@
 				<color rgba="0 1 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.068" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg3_coxa_joint" type="revolute">
 		<parent link="base_link"/>
@@ -284,6 +344,12 @@
 				<color rgba="0 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.0602" radius="0.005"/>
+			</geometry>
+			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg3_femur_joint" type="revolute">
 		<parent link="leg3_coxa"/>
@@ -311,6 +377,12 @@
 				<color rgba="0 1 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.07055" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg3_tibia_joint" type="revolute">
 		<parent link="leg3_femur"/>
@@ -338,6 +410,12 @@
 				<color rgba="1 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.01"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg3_tip_joint" type="fixed">
 		<parent link="leg3_tibia"/>
@@ -364,6 +442,12 @@
 				<color rgba="0 1 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.068" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg4_coxa_joint" type="revolute">
 		<parent link="base_link"/>
@@ -392,6 +476,12 @@
 				<color rgba="0 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.0602" radius="0.005"/>
+			</geometry>
+			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg4_femur_joint" type="revolute">
 		<parent link="leg4_coxa"/>
@@ -419,6 +509,12 @@
 				<color rgba="0 1 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.07055" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg4_tibia_joint" type="revolute">
 		<parent link="leg4_femur"/>
@@ -446,6 +542,12 @@
 				<color rgba="1 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.01"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg4_tip_joint" type="fixed">
 		<parent link="leg4_tibia"/>
@@ -472,6 +574,12 @@
 				<color rgba="0 1 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.068" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg5_coxa_joint" type="revolute">
 		<parent link="base_link"/>
@@ -500,6 +608,12 @@
 				<color rgba="0 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.0602" radius="0.005"/>
+			</geometry>
+			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg5_femur_joint" type="revolute">
 		<parent link="leg5_coxa"/>
@@ -527,6 +641,12 @@
 				<color rgba="0 1 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.07055" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg5_tibia_joint" type="revolute">
 		<parent link="leg5_femur"/>
@@ -554,6 +674,12 @@
 				<color rgba="1 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.01"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg5_tip_joint" type="fixed">
 		<parent link="leg5_tibia"/>
@@ -580,6 +706,12 @@
 				<color rgba="0 1 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.068" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.028 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg6_coxa_joint" type="revolute">
 		<parent link="base_link"/>
@@ -608,6 +740,12 @@
 				<color rgba="0 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.0602" radius="0.005"/>
+			</geometry>
+			<origin xyz="0 0 -0.0365" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg6_femur_joint" type="revolute">
 		<parent link="leg6_coxa"/>
@@ -635,6 +773,12 @@
 				<color rgba="0 1 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder length="0.07055" radius="0.005"/>
+			</geometry>
+			<origin xyz="0.035 0 0" rpy="0 1.5708 0"/>
+		</collision>
 	</link>
 	<joint name="leg6_tibia_joint" type="revolute">
 		<parent link="leg6_femur"/>
@@ -662,6 +806,12 @@
 				<color rgba="1 0 1 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.01"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
+		</collision>
 	</link>
 	<joint name="leg6_tip_joint" type="fixed">
 		<parent link="leg6_tibia"/>
@@ -669,4 +819,4 @@
 		<origin xyz="0.07055 0 0" rpy="0 0 0"/>
 	</joint>
 
-</robot>
+</robot>
\ No newline at end of file