Hi Andrew,

Yes, a custom transmission sounds like exactly what you need.  There
shouldn't be any non-obvious tricks; just work off the simple
transmission and the wrist transmission and you should be fine.

-Stu

On Tue, Oct 12, 2010 at 7:45 AM, Andrew Mor <abm760@gmail.com> wrote:
> I'm looking to simulate two joints in a finger actuated by a single motor,
> where the outer link rotates at a different rate than the inner link.  It
> looks like a custom transmission is the best method for doing this.  Is this
> correct, and if so, are there any non-obvious tricks for coding up a custom
> transmission?  I've looked through the 3 transmissions in
> pr2_mechanism_model.
>
> Thanks
>
> Andrew Mor
>
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-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com