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Looking around quickly I have found this tracksdriveplugin which seems to be a Gazebo plugin for tracks like you want. A good keyword when searching is "non rigid body".

Looking around quickly I have found this tracksdriveplugin which seems to be a Gazebo plugin for tracks like you want. A good keyword when searching is "non rigid ~~body".~~ body".

Here is a related post Simulating a track driven robot

Not an exact solution, but at least some pointers.

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