Hi,
I have a custom robotic gripper, that has two moving finger links actuated via single servo, similar to [this](http://www.aliexpress.com/item-img/High-Quality-Robot-Mechanical-Arm-Manipulator-Gripper-Mechanical-Paw-for-MG996R-Servo-Arduino/32539984376.html?spm=2114.10010108.100005.12.AVTGxz) one. So the first link joint is actuated directly from a servo and passes the torque to the second via 1:1 gear. My question is, what is the proper way to model such gripper in urdf/gazebo/ros_control? Is it possible to use a single interface like JointPositionController to move both finger links in simulation? I would appreciate any advice.
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