<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="iiwa_transmission" params="hardware_interface">
    <transmission name="${robot_name}_tran_1">
      <robotNamespace>/${robot_name}</robotNamespace>
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${robot_name}_joint_1">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
      </joint>
      <actuator name="${robot_name}_motor_1">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
	<mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${robot_name}_tran_2">
      <robotNamespace>/${robot_name}</robotNamespace>
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${robot_name}_joint_2">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
      </joint>
      <actuator name="${robot_name}_motor_2">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
	<mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${robot_name}_tran_3">
      <robotNamespace>/${robot_name}</robotNamespace>
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${robot_name}_joint_3">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
      </joint>
      <actuator name="${robot_name}_motor_3">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
	<mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${robot_name}_tran_4">
      <robotNamespace>/${robot_name}</robotNamespace>
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${robot_name}_joint_4">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
      </joint>
      <actuator name="${robot_name}_motor_4">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
	<mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${robot_name}_tran_5">
      <robotNamespace>/${robot_name}</robotNamespace>
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${robot_name}_joint_5">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
      </joint>
      <actuator name="${robot_name}_motor_5">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
	<mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${robot_name}_tran_6">
      <robotNamespace>/${robot_name}</robotNamespace>
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${robot_name}_joint_6">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
      </joint>
      <actuator name="${robot_name}_motor_6">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
	<mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${robot_name}_tran_7">
      <robotNamespace>/${robot_name}</robotNamespace>
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${robot_name}_joint_7">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
      </joint>
      <actuator name="${robot_name}_motor_7">
	<hardwareInterface>${hardware_interface}</hardwareInterface>
	<mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
  </xacro:macro>
</robot>
