69 lines
2.5 KiB
Plaintext
69 lines
2.5 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="ur_arm_transmission" params="prefix">
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<transmission name="${prefix}shoulder_pan_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}shoulder_pan_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}shoulder_pan_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}shoulder_lift_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}shoulder_lift_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}shoulder_lift_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}elbow_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}elbow_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}elbow_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist_1_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist_1_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist_1_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist_2_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist_2_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist_2_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist_3_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist_3_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist_3_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</xacro:macro>
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</robot>
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