<?xml version="1.0"?>
<robot xmlns:xacro="http://www.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>
