Hey David, <div>Good questions. I&#39;m not sure about the second part, but the answer to the first is the transmission element, viewable here:</div><div><a href="http://www.ros.org/wiki/urdf/XML/Transmission">http://www.ros.org/wiki/urdf/XML/Transmission</a></div>

<div>-David!!</div><div><br><div class="gmail_quote">On Fri, Jun 25, 2010 at 11:12 AM, David Lu!! <span dir="ltr">&lt;<a href="mailto:davidlu@wustl.edu">davidlu@wustl.edu</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">

1) Is there any mechanism to simulate gears/pulleys in URDF/Gazebo? For example, when object A rotates, object B rotates twice as much. <div><br></div><div>2) Where are the xmlschema of yesteryear? It appears that most URDF files reference namespaces at <a href="http://playerstage.sourceforge.net/gazebo/xmlschema/" target="_blank">http://playerstage.sourceforge.net/gazebo/xmlschema/</a>, which now returns a 404. </div>


<div><br></div><div>Thanks,</div><div>David!!</div>
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