360 claw for over under

How could i make (and program) a 360 claw for over under?

Maybe you could make a chain joint

Did you just answer your own question

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Im confused. Is this a conversation with yourself? It is hard for others to participate as well, since the question is worded strangley. Could you please clarify?

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I think that he means a claw that has a 360 degree rotation.