Hello list,

i am trying to create an urdf description for the gripper in our crustcrawler AX18A arms.
My starting point for the urdf-file is the one i found for the crustcrawler-smart_arm in the ua-ros-pkg package, see
     http://wiki.ros.org/ua-ros-pkg
but that has a gripper with two actuators.
The AX18A arm has a so called "2 in 1" gripper with one actuator, where the 2 fingers work in opposite direction, see
     http://www.crustcrawler.com/products/AX-18F%20Smart%20Robotic%20Arm/
The question is, how do i describe that one actuator control both the left and right fingers of the gripper,
and make it show in rviz using the joint_state_publisher.

I've been looking into the velo-gripper that looks similar, but i can't find the crucial parts.
It probably has to do something with transmission?

Hopefully someone can give me a pointer in the right direction.

   Thanks in advance,
       Sietse





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