How can I simulate two pulleys driven by a closed rope/belt?

asked 2020-02-05 11:39:34 -0600

AK gravatar image

I have two pulleys attached on two rods which are fixed on ground. Joint between rod and pulley is a revolute joint. Each pulleys are separated by certain distance and connected by a flexible rope/belt. If I drive a one of the pulleys, tensed rope should transmit power to the second pulley. How will I simulate it? Can anyone give the urdf and gazebo world files for this?

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