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Commit 82b62afa authored by ipa-fxm's avatar ipa-fxm
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use new transmission interfaces

parent f3059571
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ur_description/urdf/ur10.transmission.xacro
+ 37
− 19
View file @ 82b62afa
......@@ -3,41 +3,59 @@
<xacro:macro name="ur10_arm_transmission" params="prefix">
<transmission name="shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="shoulder_pan_motor"/>
<transmission name="${prefix}shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_pan_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<actuator name="${prefix}shoulder_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="shoulder_lift_motor"/>
<transmission name="${prefix}shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_lift_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<actuator name="${prefix}shoulder_lift_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="elbow_motor"/>
<transmission name="${prefix}elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}elbow_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<actuator name="${prefix}elbow_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_1_motor"/>
<transmission name="${prefix}wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_1_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<actuator name="${prefix}wrist_1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_2_motor"/>
<transmission name="${prefix}wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_2_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<actuator name="${prefix}wrist_2_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_3_motor"/>
<transmission name="${prefix}wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_3_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<actuator name="${prefix}wrist_3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
......
ur_description/urdf/ur5.transmission.xacro
+ 45
− 27
View file @ 82b62afa
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ur5_arm_transmission" params="name">
<transmission name="shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="shoulder_pan_motor"/>
<joint name="${name}shoulder_pan_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<xacro:macro name="ur5_arm_transmission" params="prefix">
<transmission name="${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="shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="shoulder_lift_motor"/>
<joint name="${name}shoulder_lift_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<transmission name="${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="elbow_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="elbow_motor"/>
<joint name="${name}elbow_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<transmission name="${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="wrist_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_1_motor"/>
<joint name="${name}wrist_1_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<transmission name="${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="wrist_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_2_motor"/>
<joint name="${name}wrist_2_joint"/>
<mechanicalReduction>1</mechanicalReduction>
<transmission name="${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="wrist_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="wrist_3_motor"/>
<joint name="${name}wrist_3_joint"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<transmission name="${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>
......
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