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PR2 gripper is quite complicated due to it's nonlinear setup. You might want to take a look at wrist_transmission.cpp as well, it's a bit simpler, controls 2 joints via 2 actuators. But in your case, you could simplify it to 1 actuator.

Is J1 and J2 constrained together mechanically? Is sufficient to specify both joint forces given the actuator (motor torque) command?

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