130 lines
4.2 KiB
XML
130 lines
4.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- FL transmissions -->
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<transmission name="FL_HipX_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FL_HipX">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FL_HipX_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FL_HipY_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FL_HipY">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FL_HipY_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FL_Knee_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FL_Knee">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FL_Knee_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- FR transmissions -->
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<transmission name="FR_HipX_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_HipX">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FR_HipX_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FR_HipY_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_HipY">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FR_HipY_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="FR_Knee_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="FR_Knee">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="FR_Knee_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- HL transmissions -->
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<transmission name="HL_HipX_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="HL_HipX">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="HL_HipX_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="HL_HipY_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="HL_HipY">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="HL_HipY_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="HL_Knee_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="HL_Knee">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="HL_Knee_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- HR transmissions -->
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<transmission name="HR_HipX_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="HR_HipX">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="HR_HipX_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="HR_HipY_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="HR_HipY">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="HR_HipY_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="HR_Knee_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="HR_Knee">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="HR_Knee_motor">
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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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