69 lines
2.4 KiB
XML
69 lines
2.4 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<xacro:macro name="elfin10_transmission" >
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<transmission name="elfin_joint1_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elfin_joint1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="elfin_joint1_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="elfin_joint2_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elfin_joint2">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="elfin_joint2_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="elfin_joint3_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elfin_joint3">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="elfin_joint3_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="elfin_joint4_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elfin_joint4">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="elfin_joint4_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="elfin_joint5_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elfin_joint5">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="elfin_joint5_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="elfin_joint6_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elfin_joint6">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="elfin_joint6_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</xacro:macro>
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</robot> |