2
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
3
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
4
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
5
xmlns:xacro="http://ros.org/wiki/xacro">
7
<xacro:macro name="thproximal_transmission">
9
<transmission type="sr_mechanism_model/SimpleTransmission" name="thproximal_transmission">
10
<actuator name="THJ4" />
12
<mechanicalReduction>1</mechanicalReduction>
13
<motorTorqueConstant>1</motorTorqueConstant>
14
<pulsesPerRevolution>90000</pulsesPerRevolution>
b'\\ No newline at end of file'