ur5.transmission.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

	<xacro:macro name="ur5_arm_transmission" params="prefix">

		<transmission name="${prefix}shoulder_pan_trans">
			<type>transmission_interface/SimpleTransmission</type>
			<joint name="${prefix}shoulder_pan_joint"/>
			<actuator name="${prefix}shoulder_pan_motor">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>
		</transmission>
	
		<transmission name="${prefix}shoulder_lift_trans">
			<type>transmission_interface/SimpleTransmission</type>
			<joint name="${prefix}shoulder_lift_joint"/>
			<actuator name="${prefix}shoulder_lift_motor">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>
		</transmission>
	
		<transmission name="${prefix}elbow_trans">
			<type>transmission_interface/SimpleTransmission</type>
			<joint name="${prefix}elbow_joint"/>
			<actuator name="${prefix}elbow_motor">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>
		</transmission>
	
		<transmission name="${prefix}wrist_1_trans">
			<type>transmission_interface/SimpleTransmission</type>
			<joint name="${prefix}wrist_1_joint"/>
			<actuator name="${prefix}wrist_1_motor">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>
		</transmission>
	
		<transmission name="${prefix}wrist_2_trans">
			<type>transmission_interface/SimpleTransmission</type>
			<joint name="${prefix}wrist_2_joint"/>
			<actuator name="${prefix}wrist_2_motor">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>
		</transmission>
	
		<transmission name="${prefix}wrist_3_trans">
			<type>transmission_interface/SimpleTransmission</type>
			<joint name="${prefix}wrist_3_joint"/>
			<actuator name="${prefix}wrist_3_motor">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>
		</transmission>

	</xacro:macro>

</robot>