I&#39;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&#39;ve looked through the 3 transmissions in pr2_mechanism_model.<br>

<br>Thanks<br><br>Andrew Mor<br>