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

  <xacro:macro name="tmr_transmission" params="prefix hw_iface">

    <transmission name="${prefix}trans_1">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}joint_1">
        <hardwareInterface>${hw_iface}</hardwareInterface>
      </joint>
      <actuator name="${prefix}motor_1">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${prefix}trans_2">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}joint_2">
        <hardwareInterface>${hw_iface}</hardwareInterface>
      </joint>
      <actuator name="${prefix}motor_2">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${prefix}trans_3">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}joint_3">
        <hardwareInterface>${hw_iface}</hardwareInterface>
      </joint>
      <actuator name="${prefix}motor_3">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${prefix}trans_4">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}joint_4">
        <hardwareInterface>${hw_iface}</hardwareInterface>
      </joint>
      <actuator name="${prefix}motor_4">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${prefix}trans_5">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}joint_5">
        <hardwareInterface>${hw_iface}</hardwareInterface>
      </joint>
      <actuator name="${prefix}motor_5">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

    <transmission name="${prefix}trans_6">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}joint_6">
        <hardwareInterface>${hw_iface}</hardwareInterface>
      </joint>
      <actuator name="${prefix}motor_6">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>

  </xacro:macro>

</robot>
