68 lines
2.4 KiB
XML
Executable file
68 lines
2.4 KiB
XML
Executable file
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="aubo_arm_transmission" params="prefix">
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<transmission name="${prefix}shoulder_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}shoulder_joint">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}shoulder_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}foreArm_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}foreArm_joint">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}foreArm_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}upperArm_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}upperArm_joint">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}upperArm_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist1_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist1_joint">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist1_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist2_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist2_joint">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist2_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist3_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist3_joint">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist3_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>
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