Hi All,<br><br>I&#39;m currently modeling a hexapod in Gazebo but I&#39;m currently having some difficulties.<br><br>I have basically 2 questions, I hope that this is not a problem for one post but both have to do with the transmission:<br>

<br>1) Between the actuators and the joints are torsion springs. I haven&#39;t found something that incorporates flexibility between actuators and joints.<br>Is there some solution or workaround to obtain this or should I try an alternative solution like writing a custom transmission?<br>

<br>2) As you can imagine I have 6 legs consisting of three links, basically an elbow manipulator. <br>The last two links can be regarded as in a 2D-plane. The third link is remotely driven. <br>This means that when rotating the second link the third link does not change the rotation with respect to the body.<br>

So in a &#39;standard&#39; situation the third link rotates with the second link so the angle between those two does not change.<br>I hope this is a bit clear. <br>So again is there some solution or workaround? <br><br>Thanks!<br>

<br>Jeroen<br>