<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- ============================   Upper Arm   ============================ -->


  <xacro:macro name="pr2_elbow_flex_transmission_v0" params="side">
    <!-- Elbow flex -->
    <transmission type="pr2_mechanism_model/SimpleTransmission" name="${side}_elbow_flex_trans">
      <actuator name="${side}_elbow_flex_motor" />
      <joint name="${side}_elbow_flex_joint" />
      <mechanicalReduction>${-13/3 * 127.532/15.28}</mechanicalReduction>
    </transmission>
  </xacro:macro>

  <!-- Forearm roll -->
  <xacro:macro name="pr2_forearm_roll_transmission_v0" params="side" >
    <transmission type="pr2_mechanism_model/SimpleTransmission" name="${side}_forearm_roll_trans">
      <actuator name="${side}_forearm_roll_motor" />
      <joint name="${side}_forearm_roll_joint" />
      <mechanicalReduction>${-576/25 * 55/14}</mechanicalReduction>
    </transmission>
  </xacro:macro>

</robot>
