104 lines
3.7 KiB
XML
104 lines
3.7 KiB
XML
<?xml version="1.0" ?>
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<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<transmission name="rev1_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rev1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rev1_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="rev2_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rev2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rev2_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="rev3_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rev3">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rev3_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="rev4_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rev4">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rev4_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="rev5_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rev5">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rev5_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="rev6_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rev6">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rev6_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="rev7_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rev7">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rev7_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="slider_left_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="slider_left">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="slider_left_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="slider_right_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="slider_right">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="slider_right_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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