urdf/arm/left_arm.transmissions.urdf.xacro

+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2018, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!--File includes-->
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
+  <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+  <!-- extensions -->
+  <xacro:talos_arm_simple_transmission name="${name}" side="left" number="1" reduction="1.0" offset_value="${arm_left_1_joint_offset}" />
+  <xacro:talos_arm_simple_transmission name="${name}" side="left" number="2" reduction="1.0" offset_value="${arm_left_2_joint_offset}" />
+  <xacro:talos_arm_simple_transmission name="${name}" side="left" number="3" reduction="1.0" offset_value="${arm_left_3_joint_offset}" />
+  <xacro:talos_arm_simple_transmission name="${name}" side="left" number="4" reduction="1.0" offset_value="${arm_left_4_joint_offset}" />
+
+</robot>

urdf/arm/left_wrist.transmissions.urdf.xacro

+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2018, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!--File includes-->
+  <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
+  <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+  <!-- extensions -->
+  <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
+                                         offset_value="${arm_left_5_joint_offset}"/>
+  <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
+                                                act_reduction_1="-1.0" act_reduction_2="1.0"
+                                                jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
+                                                offset_value_1="${arm_left_6_joint_offset}"
+                                                offset_value_2="${arm_left_7_joint_offset}"/>
+
+</robot>

urdf/arm/right_arm.transmissions.urdf.xacro

+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2018, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!--File includes-->
+  <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
+  <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+  <!-- extensions -->
+  <xacro:talos_arm_simple_transmission name="${name}" side="right" number="1" reduction="1.0" offset_value="${arm_right_1_joint_offset}" />
+  <xacro:talos_arm_simple_transmission name="${name}" side="right" number="2" reduction="1.0" offset_value="${arm_right_2_joint_offset}" />
+  <xacro:talos_arm_simple_transmission name="${name}" side="right" number="3" reduction="1.0" offset_value="${arm_right_3_joint_offset}" />
+  <xacro:talos_arm_simple_transmission name="${name}" side="right" number="4" reduction="1.0" offset_value="${arm_right_4_joint_offset}" />
+
+</robot>

urdf/arm/right_wrist.transmissions.urdf.xacro

+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2018, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!--File includes-->
+  <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
+  <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+  <!-- extensions -->
+  <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
+                                         offset_value="${arm_right_5_joint_offset}"/>
+  <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
+                                                act_reduction_1="-1.0" act_reduction_2="1.0"
+                                                jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
+                                                offset_value_1="${arm_right_6_joint_offset}"
+                                                offset_value_2="${arm_right_7_joint_offset}"/>
+
+</robot>

urdf/gripper/gripper.transmission.xacro

@@ -35,4 +35,4 @@
   </xacro:macro>
 
 
-</robot>
\ No newline at end of file
+</robot>

urdf/leg/leg.transmission.xacro

@@ -23,4 +23,3 @@
     </transmission>
   </xacro:macro>
 </robot>
-

urdf/pyrene.urdf

+talos_full_v2_with_lidar.urdf
\ No newline at end of file