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Initial commit of duru_urdf package

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Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
This commit is contained in:
Yoo Hee Sung
2026-08-27 11:04:29 +09:00
commit e938b6921f
22 changed files with 813 additions and 0 deletions
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urdf/duru_urdf.trans
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<?xml version="1.0" ?>
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<transmission name="fwl_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fwl_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fwl_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fwr_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fwr_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fwr_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rwr_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rwr_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rwr_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rwl_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rwl_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rwl_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>