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<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="ur5_arm_transmission" params="name">
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<transmission name="shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="shoulder_pan_motor"/>
<joint name="${name}shoulder_pan_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission name="shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="shoulder_lift_motor"/>
<joint name="${name}shoulder_lift_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission name="elbow_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="elbow_motor"/>
<joint name="${name}elbow_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission name="wrist_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_1_motor"/>
<joint name="${name}wrist_1_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission name="wrist_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_2_motor"/>
<joint name="${name}wrist_2_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission name="wrist_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_3_motor"/>
<joint name="${name}wrist_3_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
</xacro:macro>
</robot>