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" <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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