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Commit af8dc8f6 authored by Felix Messmer's avatar Felix Messmer
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change to new transmission format

parent 1e3bcab3
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ur_description/urdf/ur10.transmission.xacro
+ 18
− 12
View file @ af8dc8f6
......@@ -5,54 +5,60 @@
<transmission name="${prefix}shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_pan_joint"/>
<actuator name="${prefix}shoulder_pan_motor">
<joint name="${prefix}shoulder_pan_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_lift_joint"/>
<actuator name="${prefix}shoulder_lift_motor">
<joint name="${prefix}shoulder_lift_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}elbow_joint"/>
<actuator name="${prefix}elbow_motor">
<joint name="${prefix}elbow_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_1_joint"/>
<actuator name="${prefix}wrist_1_motor">
<joint name="${prefix}wrist_1_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_2_joint"/>
<actuator name="${prefix}wrist_2_motor">
<joint name="${prefix}wrist_2_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_3_joint"/>
<actuator name="${prefix}wrist_3_motor">
<joint name="${prefix}wrist_3_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
ur_description/urdf/ur5.transmission.xacro
+ 18
− 12
View file @ af8dc8f6
......@@ -5,54 +5,60 @@
<transmission name="${prefix}shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_pan_joint"/>
<actuator name="${prefix}shoulder_pan_motor">
<joint name="${prefix}shoulder_pan_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}shoulder_lift_joint"/>
<actuator name="${prefix}shoulder_lift_motor">
<joint name="${prefix}shoulder_lift_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}elbow_joint"/>
<actuator name="${prefix}elbow_motor">
<joint name="${prefix}elbow_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_1_joint"/>
<actuator name="${prefix}wrist_1_motor">
<joint name="${prefix}wrist_1_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_2_joint"/>
<actuator name="${prefix}wrist_2_motor">
<joint name="${prefix}wrist_2_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${prefix}wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_3_joint"/>
<actuator name="${prefix}wrist_3_motor">
<joint name="${prefix}wrist_3_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
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