At the mechanism transmission level, you have direct control over the individual joint torques based on joint positions and velocities, will that satisfy your modeling needs? John On Oct 12, 2010 7:45 AM, "Andrew Mor" 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 _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users