Hi Stu,

Could you explain the calling order for the four different propagate*
functions when running with gazebo?  What calls which functions when?

Thanks

Andrew

On Tue, Oct 12, 2010 at 1:57 PM, Stuart Glaser <sglaser@willowgarage.com>wrote:

> 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
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