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Equivalent <transmission> or <actuator> tags in SDF (compared to URDF)

Does anyone know what Gazebo 1.2 does with the information in <transmission> or <actuator> tags? Perhaps using plugins? I know I can, for instance, use a model plugin to set one joint angle to be equivalent to another joint angle in the OnUpdate() function, but this seems to screw with the physics (and generally be an inelegant hack).

Has anyone had any luck loading the old pr2 gripper into new Gazebo? May be you can point me to an example of how to implement actuator or transmission models?

Equivalent <transmission> or <actuator> tags in SDF (compared to URDF)

Does anyone know what Gazebo 1.2 does with the information in <transmission> or <actuator> tags? Perhaps using plugins? I know I can, for instance, use a model plugin to set one joint angle to be equivalent to another joint angle in the OnUpdate() function, but this seems to screw with the physics (and generally be an inelegant hack).

Has anyone had any luck loading the old pr2 gripper into new Gazebo? May be you can point me to an example of how to implement actuator or transmission models? I guess what I'm really interested in is a more elegant way to access the physics engine via a plugin to write my own transmissions like the ones used by pr2, or at least get theirs to work within a new Gazebo model.