transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface "${abadGearRatio}" transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface "${abadGearRatio}" transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface "${kneeGearRatio}"