Yoo Hee Sung
49 lines
1.7 KiB
XML
49 lines
1.7 KiB
XML
<?xml version="1.0" ?>
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<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<transmission name="fwl_joint_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="fwl_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="fwl_joint_actr">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="fwr_joint_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="fwr_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="fwr_joint_actr">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="rwr_joint_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rwr_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rwr_joint_actr">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="rwl_joint_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rwl_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rwl_joint_actr">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</robot>
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