Mimic joints in Gazebo

asked 2017-05-11 13:58:43 -0600

hamzamerzic gravatar image

updated 2017-05-11 16:22:47 -0600

Hi everyone. I am trying to simulate the popular Barrett hand in Gazebo and I am struggling to do it correctly. The problem is that out of 8 joints, 4 are actually mimicked, which leaves only 4 DOF.

I saw that this was a topic since a long time ago (e.g. here, here, or here).

Was this ever implemented? Is there any way to constrain the two joints in a transmission manner? I saw that Gazebo has support for gearbox joints. Can they be used to implement this dependency?

Thanks!

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