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ur.transmission.xacro 2.51 KiB
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
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  <xacro:macro name="ur_arm_transmission" params="prefix">
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    <transmission name="${prefix}shoulder_pan_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}shoulder_pan_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}shoulder_pan_motor">
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        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
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    <transmission name="${prefix}shoulder_lift_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}shoulder_lift_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}shoulder_lift_motor">
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        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
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    <transmission name="${prefix}elbow_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}elbow_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}elbow_motor">
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        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
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    <transmission name="${prefix}wrist_1_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}wrist_1_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}wrist_1_motor">
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        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
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    <transmission name="${prefix}wrist_2_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}wrist_2_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}wrist_2_motor">
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        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
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    <transmission name="${prefix}wrist_3_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}wrist_3_joint">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}wrist_3_motor">
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        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
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  </xacro:macro>