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Commit 6d21480a authored by Sergi Hernandez's avatar Sergi Hernandez
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Added the hardware_interface namespace to the transmissions of the xacro files.

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darwin_description/urdf/darwin_high_res.xacro
+ 32
− 32
View file @ 6d21480a
...@@ -418,10 +418,10 @@ ...@@ -418,10 +418,10 @@
<transmission name="tran_pan"> <transmission name="tran_pan">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_pan"> <joint name="j_pan">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="pan_motor"> <actuator name="pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -438,10 +438,10 @@ ...@@ -438,10 +438,10 @@
<transmission name="tran_tilt"> <transmission name="tran_tilt">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_tilt"> <joint name="j_tilt">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="tilt_motor"> <actuator name="tilt_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -458,10 +458,10 @@ ...@@ -458,10 +458,10 @@
<transmission name="tran_shoulder_pitch_l"> <transmission name="tran_shoulder_pitch_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_l"> <joint name="j_shoulder_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_pitch_l_motor"> <actuator name="shoulder_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -478,10 +478,10 @@ ...@@ -478,10 +478,10 @@
<transmission name="tran_shoulder_roll_l"> <transmission name="tran_shoulder_roll_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_l"> <joint name="j_shoulder_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_roll_l_motor"> <actuator name="shoulder_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -498,10 +498,10 @@ ...@@ -498,10 +498,10 @@
<transmission name="tran_shoulder_pitch_r"> <transmission name="tran_shoulder_pitch_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_r"> <joint name="j_shoulder_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_pitch_r_motor"> <actuator name="shoulder_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -518,10 +518,10 @@ ...@@ -518,10 +518,10 @@
<transmission name="tran_shoulder_roll_r"> <transmission name="tran_shoulder_roll_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_r"> <joint name="j_shoulder_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_roll_r_motor"> <actuator name="shoulder_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -538,10 +538,10 @@ ...@@ -538,10 +538,10 @@
<transmission name="tran_hip_yaw_l"> <transmission name="tran_hip_yaw_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_l"> <joint name="j_hip_yaw_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_yaw_l_motor"> <actuator name="hip_yaw_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -558,10 +558,10 @@ ...@@ -558,10 +558,10 @@
<transmission name="tran_hip_roll_l"> <transmission name="tran_hip_roll_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_l"> <joint name="j_hip_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_roll_l_motor"> <actuator name="hip_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -578,10 +578,10 @@ ...@@ -578,10 +578,10 @@
<transmission name="tran_hip_pitch_l"> <transmission name="tran_hip_pitch_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_l"> <joint name="j_hip_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_pitch_l_motor"> <actuator name="hip_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -598,10 +598,10 @@ ...@@ -598,10 +598,10 @@
<transmission name="tran_knee_l"> <transmission name="tran_knee_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_l"> <joint name="j_knee_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="knee_l_motor"> <actuator name="knee_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -618,10 +618,10 @@ ...@@ -618,10 +618,10 @@
<transmission name="tran_ankle_pitch_l"> <transmission name="tran_ankle_pitch_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_l"> <joint name="j_ankle_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_pitch_l_motor"> <actuator name="ankle_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -638,10 +638,10 @@ ...@@ -638,10 +638,10 @@
<transmission name="tran_hip_yaw_r"> <transmission name="tran_hip_yaw_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_r"> <joint name="j_hip_yaw_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_yaw_r_motor"> <actuator name="hip_yaw_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -658,10 +658,10 @@ ...@@ -658,10 +658,10 @@
<transmission name="tran_hip_roll_r"> <transmission name="tran_hip_roll_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_r"> <joint name="j_hip_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_roll_r_motor"> <actuator name="hip_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -678,10 +678,10 @@ ...@@ -678,10 +678,10 @@
<transmission name="tran_hip_pitch_r"> <transmission name="tran_hip_pitch_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_r"> <joint name="j_hip_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_pitch_r_motor"> <actuator name="hip_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -698,10 +698,10 @@ ...@@ -698,10 +698,10 @@
<transmission name="tran_knee_r"> <transmission name="tran_knee_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_r"> <joint name="j_knee_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="knee_r_motor"> <actuator name="knee_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -718,10 +718,10 @@ ...@@ -718,10 +718,10 @@
<transmission name="tran_ankle_pitch_r"> <transmission name="tran_ankle_pitch_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_r"> <joint name="j_ankle_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_pitch_r_motor"> <actuator name="ankle_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/darwin_low_res.xacro
+ 32
− 32
View file @ 6d21480a
...@@ -405,10 +405,10 @@ ...@@ -405,10 +405,10 @@
<transmission name="tran_pan"> <transmission name="tran_pan">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_pan"> <joint name="j_pan">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="pan_motor"> <actuator name="pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -425,10 +425,10 @@ ...@@ -425,10 +425,10 @@
<transmission name="tran_tilt"> <transmission name="tran_tilt">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_tilt"> <joint name="j_tilt">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="tilt_motor"> <actuator name="tilt_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -445,10 +445,10 @@ ...@@ -445,10 +445,10 @@
<transmission name="tran_shoulder_pitch_l"> <transmission name="tran_shoulder_pitch_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_l"> <joint name="j_shoulder_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_pitch_l_motor"> <actuator name="shoulder_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -465,10 +465,10 @@ ...@@ -465,10 +465,10 @@
<transmission name="tran_shoulder_roll_l"> <transmission name="tran_shoulder_roll_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_l"> <joint name="j_shoulder_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_roll_l_motor"> <actuator name="shoulder_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -485,10 +485,10 @@ ...@@ -485,10 +485,10 @@
<transmission name="tran_shoulder_pitch_r"> <transmission name="tran_shoulder_pitch_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_r"> <joint name="j_shoulder_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_pitch_r_motor"> <actuator name="shoulder_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -505,10 +505,10 @@ ...@@ -505,10 +505,10 @@
<transmission name="tran_shoulder_roll_r"> <transmission name="tran_shoulder_roll_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_r"> <joint name="j_shoulder_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="shoulder_roll_r_motor"> <actuator name="shoulder_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -525,10 +525,10 @@ ...@@ -525,10 +525,10 @@
<transmission name="tran_hip_yaw_l"> <transmission name="tran_hip_yaw_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_l"> <joint name="j_hip_yaw_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_yaw_l_motor"> <actuator name="hip_yaw_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -545,10 +545,10 @@ ...@@ -545,10 +545,10 @@
<transmission name="tran_hip_roll_l"> <transmission name="tran_hip_roll_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_l"> <joint name="j_hip_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_roll_l_motor"> <actuator name="hip_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -565,10 +565,10 @@ ...@@ -565,10 +565,10 @@
<transmission name="tran_hip_pitch_l"> <transmission name="tran_hip_pitch_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_l"> <joint name="j_hip_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_pitch_l_motor"> <actuator name="hip_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -585,10 +585,10 @@ ...@@ -585,10 +585,10 @@
<transmission name="tran_knee_l"> <transmission name="tran_knee_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_l"> <joint name="j_knee_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="knee_l_motor"> <actuator name="knee_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -605,10 +605,10 @@ ...@@ -605,10 +605,10 @@
<transmission name="tran_ankle_pitch_l"> <transmission name="tran_ankle_pitch_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_l"> <joint name="j_ankle_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_pitch_l_motor"> <actuator name="ankle_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -625,10 +625,10 @@ ...@@ -625,10 +625,10 @@
<transmission name="tran_hip_yaw_r"> <transmission name="tran_hip_yaw_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_r"> <joint name="j_hip_yaw_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_yaw_r_motor"> <actuator name="hip_yaw_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -645,10 +645,10 @@ ...@@ -645,10 +645,10 @@
<transmission name="tran_hip_roll_r"> <transmission name="tran_hip_roll_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_r"> <joint name="j_hip_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_roll_r_motor"> <actuator name="hip_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -665,10 +665,10 @@ ...@@ -665,10 +665,10 @@
<transmission name="tran_hip_pitch_r"> <transmission name="tran_hip_pitch_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_r"> <joint name="j_hip_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="hip_pitch_r_motor"> <actuator name="hip_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -685,10 +685,10 @@ ...@@ -685,10 +685,10 @@
<transmission name="tran_knee_r"> <transmission name="tran_knee_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_r"> <joint name="j_knee_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="knee_r_motor"> <actuator name="knee_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -705,10 +705,10 @@ ...@@ -705,10 +705,10 @@
<transmission name="tran_ankle_pitch_r"> <transmission name="tran_ankle_pitch_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_r"> <joint name="j_ankle_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_pitch_r_motor"> <actuator name="ankle_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/gripper.xacro
+ 6
− 6
View file @ 6d21480a
...@@ -40,10 +40,10 @@ ...@@ -40,10 +40,10 @@
<transmission name="tran_elbow_${name}"> <transmission name="tran_elbow_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_${name}"> <joint name="j_elbow_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="elbow_${name}_motor"> <actuator name="elbow_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -83,10 +83,10 @@ ...@@ -83,10 +83,10 @@
<transmission name="tran_wrist_${name}"> <transmission name="tran_wrist_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_wrist_${name}"> <joint name="j_wrist_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="wrist_${name}_motor"> <actuator name="wrist_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -127,10 +127,10 @@ ...@@ -127,10 +127,10 @@
<transmission name="tran_finger1_seg1_${name}"> <transmission name="tran_finger1_seg1_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_finger1_seg1_${name}"> <joint name="j_finger1_seg1_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="wrist_${name}_motor"> <actuator name="wrist_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/gripper_sc.xacro
+ 6
− 6
View file @ 6d21480a
...@@ -40,10 +40,10 @@ ...@@ -40,10 +40,10 @@
<transmission name="tran_elbow_${name}"> <transmission name="tran_elbow_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_${name}"> <joint name="j_elbow_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="elbow_${name}_motor"> <actuator name="elbow_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -83,10 +83,10 @@ ...@@ -83,10 +83,10 @@
<transmission name="tran_gripper_bot_${name}"> <transmission name="tran_gripper_bot_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_bot_${name}"> <joint name="j_gripper_bot_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="gripper_bot_${name}_motor"> <actuator name="gripper_bot_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -126,10 +126,10 @@ ...@@ -126,10 +126,10 @@
<transmission name="tran_gripper_top_${name}"> <transmission name="tran_gripper_top_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_top_${name}"> <joint name="j_gripper_top_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="gripper_top_${name}_motor"> <actuator name="gripper_top_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/gripper_sc_low_res.xacro
+ 6
− 6
View file @ 6d21480a
...@@ -40,10 +40,10 @@ ...@@ -40,10 +40,10 @@
<transmission name="tran_elbow_${name}"> <transmission name="tran_elbow_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_${name}"> <joint name="j_elbow_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="elbow_${name}_motor"> <actuator name="elbow_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -83,10 +83,10 @@ ...@@ -83,10 +83,10 @@
<transmission name="tran_gripper_bot_${name}"> <transmission name="tran_gripper_bot_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_bot_${name}"> <joint name="j_gripper_bot_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="gripper_bot_${name}_motor"> <actuator name="gripper_bot_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
...@@ -126,10 +126,10 @@ ...@@ -126,10 +126,10 @@
<transmission name="tran_gripper_top_${name}"> <transmission name="tran_gripper_top_${name}">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_gripper_top_${name}"> <joint name="j_gripper_top_${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="gripper_top_${name}_motor"> <actuator name="gripper_top_${name}_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/left_foot.xacro
+ 2
− 2
View file @ 6d21480a
...@@ -40,10 +40,10 @@ ...@@ -40,10 +40,10 @@
<transmission name="tran_ankle_roll_l"> <transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l"> <joint name="j_ankle_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_roll_l_motor"> <actuator name="ankle_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/left_hand.xacro
+ 2
− 2
View file @ 6d21480a
...@@ -40,10 +40,10 @@ ...@@ -40,10 +40,10 @@
<transmission name="tran_elbow_l"> <transmission name="tran_elbow_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_l"> <joint name="j_elbow_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="elbow_l_motor"> <actuator name="elbow_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/left_sensor_foot.xacro
+ 2
− 2
View file @ 6d21480a
...@@ -41,10 +41,10 @@ ...@@ -41,10 +41,10 @@
<transmission name="tran_ankle_roll_l"> <transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l"> <joint name="j_ankle_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_roll_l_motor"> <actuator name="ankle_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/right_foot.xacro
+ 2
− 2
View file @ 6d21480a
...@@ -40,10 +40,10 @@ ...@@ -40,10 +40,10 @@
<transmission name="tran_ankle_roll_r"> <transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r"> <joint name="j_ankle_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_roll_r_motor"> <actuator name="ankle_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/right_hand.xacro
+ 2
− 2
View file @ 6d21480a
...@@ -40,10 +40,10 @@ ...@@ -40,10 +40,10 @@
<transmission name="tran_elbow_r"> <transmission name="tran_elbow_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_elbow_r"> <joint name="j_elbow_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="elbow_r_motor"> <actuator name="elbow_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
darwin_description/urdf/right_sensor_foot.xacro
+ 2
− 2
View file @ 6d21480a
...@@ -41,10 +41,10 @@ ...@@ -41,10 +41,10 @@
<transmission name="tran_ankle_roll_r"> <transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r"> <joint name="j_ankle_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint> </joint>
<actuator name="ankle_roll_r_motor"> <actuator name="ankle_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction> <mechanicalReduction>1</mechanicalReduction>
</actuator> </actuator>
</transmission> </transmission>
......
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