Device visualization (#67)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

* change arm's name

* change name

* fix ik error

* 修改moveit_interface，并在mqtt上报时发送一个时间戳

* 添加机械臂和移液站

* 添加

* 添加硬件

* update

* 添加

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>

unilabos/device_mesh/devices/elite_robot/urdf/inc/cs_common.xacro

@@ -0,0 +1,174 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    NOTE the macros defined in this file are NOT part of the public API of this
+         package. Users CANNOT rely on this file being available, or stored in
+         this location. Nor can they rely on the existence of the two macros.
+         The macros store the defined properties in the scope of the caller.
+         However, users MUST NOT rely on these properties, their contents or their
+         names.
+
+    Author: Chen Shichao
+  -->
+  <xacro:macro name="build_inertial" params="mass cog inertia">
+    <inertial>
+      <mass value="${mass}" />
+      <origin 
+        xyz="${cog['x']} ${cog['y']} ${cog['z']}"
+        rpy="0 0 0" />
+      <inertia 
+        ixx="${inertia['ixx']}"
+        ixy="${inertia['ixy']}"
+        ixz="${inertia['ixz']}"
+        iyy="${inertia['iyy']}"
+        iyz="${inertia['iyz']}"
+        izz="${inertia['izz']}" />
+    </inertial>
+  </xacro:macro>
+
+  <xacro:macro name="get_visual_params" params="name:=^ type:=^" >
+    <xacro:property name="visual_params" value="${sec_mesh_files[name][type]}" scope="parent"/>
+  </xacro:macro>
+
+  <!-- Simplification of getting meshes. Available types can be seen in the visual_parameters.yaml (At the time of writing: visual, collision) -->
+  <xacro:macro name="get_mesh_path" params="name:=^ type:=^" >
+    <xacro:get_visual_params />
+    <xacro:if value="${force_abs_paths}">
+      <xacro:property name="mesh" value="file://${mesh_path}/devices/elite_robot/${visual_params['mesh']['path']}" scope="parent"/>
+    </xacro:if>
+    <xacro:unless value="${force_abs_paths}">
+      <xacro:property name="mesh" value="package://${visual_params['mesh']['package']}/${visual_params['mesh']['path']}" scope="parent"/>
+    </xacro:unless>
+  </xacro:macro>
+
+  <xacro:macro name="get_mesh" params="name type" >
+    <xacro:get_mesh_path/>
+    <mesh filename="${mesh}"/>
+  </xacro:macro>
+
+  <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths mesh_path">
+
+    <xacro:property name="force_abs_paths" value="${force_abs_paths}" scope="parent"/>
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name="config_joint_limit_parameters" value="${xacro.load_yaml(joint_limits_parameters_file)}"/>
+    <xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
+    <xacro:property name="config_physical_parameters" value="${xacro.load_yaml(physical_parameters_file)}"/>
+    <xacro:property name="config_visual_parameters" value="${xacro.load_yaml(visual_parameters_file)}"/>
+
+    <xacro:property name="mesh_path" value="${mesh_path}" scope="parent"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
+    <xacro:property name="sec_dh_parameters" value="${config_physical_parameters['dh_parameters']}"/>
+    <xacro:property name="sec_offsets" value="${config_physical_parameters['offsets']}"/>
+    <xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}" />
+    <xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}" scope="parent"/>
+    <xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan_joint']['min_position']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_upper_limit" value="${sec_limits['shoulder_pan_joint']['max_position']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_velocity_limit" value="${sec_limits['shoulder_pan_joint']['max_velocity']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_effort_limit" value="${sec_limits['shoulder_pan_joint']['max_effort']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_lower_limit" value="${sec_limits['shoulder_lift_joint']['min_position']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_upper_limit" value="${sec_limits['shoulder_lift_joint']['max_position']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_velocity_limit" value="${sec_limits['shoulder_lift_joint']['max_velocity']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_effort_limit" value="${sec_limits['shoulder_lift_joint']['max_effort']}" scope="parent"/>
+    <xacro:property name="elbow_joint_lower_limit" value="${sec_limits['elbow_joint']['min_position']}" scope="parent"/>
+    <xacro:property name="elbow_joint_upper_limit" value="${sec_limits['elbow_joint']['max_position']}" scope="parent"/>
+    <xacro:property name="elbow_joint_velocity_limit" value="${sec_limits['elbow_joint']['max_velocity']}" scope="parent"/>
+    <xacro:property name="elbow_joint_effort_limit" value="${sec_limits['elbow_joint']['max_effort']}" scope="parent"/>
+    <xacro:property name="wrist_1_lower_limit" value="${sec_limits['wrist_1_joint']['min_position']}" scope="parent"/>
+    <xacro:property name="wrist_1_upper_limit" value="${sec_limits['wrist_1_joint']['max_position']}" scope="parent"/>
+    <xacro:property name="wrist_1_velocity_limit" value="${sec_limits['wrist_1_joint']['max_velocity']}" scope="parent"/>
+    <xacro:property name="wrist_1_effort_limit" value="${sec_limits['wrist_1_joint']['max_effort']}" scope="parent"/>
+    <xacro:property name="wrist_2_lower_limit" value="${sec_limits['wrist_2_joint']['min_position']}" scope="parent"/>
+    <xacro:property name="wrist_2_upper_limit" value="${sec_limits['wrist_2_joint']['max_position']}" scope="parent"/>
+    <xacro:property name="wrist_2_velocity_limit" value="${sec_limits['wrist_2_joint']['max_velocity']}" scope="parent"/>
+    <xacro:property name="wrist_2_effort_limit" value="${sec_limits['wrist_2_joint']['max_effort']}" scope="parent"/>
+    <xacro:property name="wrist_3_lower_limit" value="${sec_limits['wrist_3_joint']['min_position']}" scope="parent"/>
+    <xacro:property name="wrist_3_upper_limit" value="${sec_limits['wrist_3_joint']['max_position']}" scope="parent"/>
+    <xacro:property name="wrist_3_velocity_limit" value="${sec_limits['wrist_3_joint']['max_velocity']}" scope="parent"/>
+    <xacro:property name="wrist_3_effort_limit" value="${sec_limits['wrist_3_joint']['max_effort']}" scope="parent"/>
+
+    <!-- DH PARAMETERS -->
+    <xacro:property name="d1" value="${sec_dh_parameters['d1']}" scope="parent"/>
+    <xacro:property name="a2" value="${sec_dh_parameters['a2']}" scope="parent"/>
+    <xacro:property name="a3" value="${sec_dh_parameters['a3']}" scope="parent"/>
+    <xacro:property name="d4" value="${sec_dh_parameters['d4']}" scope="parent"/>
+    <xacro:property name="d5" value="${sec_dh_parameters['d5']}" scope="parent"/>
+    <xacro:property name="d6" value="${sec_dh_parameters['d6']}" scope="parent"/>
+
+    <!-- kinematics -->
+    <xacro:property name="shoulder_x" value="${sec_kinematics['shoulder']['x']}" scope="parent"/>
+    <xacro:property name="shoulder_y" value="${sec_kinematics['shoulder']['y']}" scope="parent"/>
+    <xacro:property name="shoulder_z" value="${sec_kinematics['shoulder']['z']}" scope="parent"/>
+    <xacro:property name="shoulder_roll" value="${sec_kinematics['shoulder']['roll']}" scope="parent"/>
+    <xacro:property name="shoulder_pitch" value="${sec_kinematics['shoulder']['pitch']}" scope="parent"/>
+    <xacro:property name="shoulder_yaw" value="${sec_kinematics['shoulder']['yaw']}" scope="parent"/>
+
+    <xacro:property name="upperarm_x" value="${sec_kinematics['upperarm']['x']}" scope="parent"/>
+    <xacro:property name="upperarm_y" value="${sec_kinematics['upperarm']['y']}" scope="parent"/>
+    <xacro:property name="upperarm_z" value="${sec_kinematics['upperarm']['z']}" scope="parent"/>
+    <xacro:property name="upperarm_roll" value="${sec_kinematics['upperarm']['roll']}" scope="parent"/>
+    <xacro:property name="upperarm_pitch" value="${sec_kinematics['upperarm']['pitch']}" scope="parent"/>
+    <xacro:property name="upperarm_yaw" value="${sec_kinematics['upperarm']['yaw']}" scope="parent"/>
+
+    <xacro:property name="forearm_x" value="${sec_kinematics['forearm']['x']}" scope="parent"/>
+    <xacro:property name="forearm_y" value="${sec_kinematics['forearm']['y']}" scope="parent"/>
+    <xacro:property name="forearm_z" value="${sec_kinematics['forearm']['z']}" scope="parent"/>
+    <xacro:property name="forearm_roll" value="${sec_kinematics['forearm']['roll']}" scope="parent"/>
+    <xacro:property name="forearm_pitch" value="${sec_kinematics['forearm']['pitch']}" scope="parent"/>
+    <xacro:property name="forearm_yaw" value="${sec_kinematics['forearm']['yaw']}" scope="parent"/>
+
+    <xacro:property name="wrist_1_x" value="${sec_kinematics['wrist_1']['x']}" scope="parent"/>
+    <xacro:property name="wrist_1_y" value="${sec_kinematics['wrist_1']['y']}" scope="parent"/>
+    <xacro:property name="wrist_1_z" value="${sec_kinematics['wrist_1']['z']}" scope="parent"/>
+    <xacro:property name="wrist_1_roll" value="${sec_kinematics['wrist_1']['roll']}" scope="parent"/>
+    <xacro:property name="wrist_1_pitch" value="${sec_kinematics['wrist_1']['pitch']}" scope="parent"/>
+    <xacro:property name="wrist_1_yaw" value="${sec_kinematics['wrist_1']['yaw']}" scope="parent"/>
+
+    <xacro:property name="wrist_2_x" value="${sec_kinematics['wrist_2']['x']}" scope="parent"/>
+    <xacro:property name="wrist_2_y" value="${sec_kinematics['wrist_2']['y']}" scope="parent"/>
+    <xacro:property name="wrist_2_z" value="${sec_kinematics['wrist_2']['z']}" scope="parent"/>
+    <xacro:property name="wrist_2_roll" value="${sec_kinematics['wrist_2']['roll']}" scope="parent"/>
+    <xacro:property name="wrist_2_pitch" value="${sec_kinematics['wrist_2']['pitch']}" scope="parent"/>
+    <xacro:property name="wrist_2_yaw" value="${sec_kinematics['wrist_2']['yaw']}" scope="parent"/>
+
+    <xacro:property name="wrist_3_x" value="${sec_kinematics['wrist_3']['x']}" scope="parent"/>
+    <xacro:property name="wrist_3_y" value="${sec_kinematics['wrist_3']['y']}" scope="parent"/>
+    <xacro:property name="wrist_3_z" value="${sec_kinematics['wrist_3']['z']}" scope="parent"/>
+    <xacro:property name="wrist_3_roll" value="${sec_kinematics['wrist_3']['roll']}" scope="parent"/>
+    <xacro:property name="wrist_3_pitch" value="${sec_kinematics['wrist_3']['pitch']}" scope="parent"/>
+    <xacro:property name="wrist_3_yaw" value="${sec_kinematics['wrist_3']['yaw']}" scope="parent"/>
+
+    <!-- INERTIA PARAMETERS -->
+    <!-- mass -->
+    <xacro:property name="base_mass" value="${sec_inertia_parameters['base_mass']}" scope="parent"/>
+    <xacro:property name="shoulder_mass" value="${sec_inertia_parameters['shoulder_mass']}" scope="parent"/>
+    <xacro:property name="upperarm_mass" value="${sec_inertia_parameters['upperarm_mass']}" scope="parent"/>
+    <xacro:property name="forearm_mass" value="${sec_inertia_parameters['forearm_mass']}" scope="parent"/>
+    <xacro:property name="wrist_1_mass" value="${sec_inertia_parameters['wrist_1_mass']}" scope="parent"/>
+    <xacro:property name="wrist_2_mass" value="${sec_inertia_parameters['wrist_2_mass']}" scope="parent"/>
+    <xacro:property name="wrist_3_mass" value="${sec_inertia_parameters['wrist_3_mass']}" scope="parent"/>
+
+    <!-- center of mass -->
+    <xacro:property name="prop_base_cog" value="${sec_inertia_parameters['center_of_mass']['base_cog']}" scope="parent"/>
+    <xacro:property name="prop_shoulder_cog" value="${sec_inertia_parameters['center_of_mass']['shoulder_cog']}" scope="parent"/>
+    <xacro:property name="prop_upperarm_cog" value="${sec_inertia_parameters['center_of_mass']['upperarm_cog']}" scope="parent"/>
+    <xacro:property name="prop_forearm_cog" value="${sec_inertia_parameters['center_of_mass']['forearm_cog']}" scope="parent"/>
+    <xacro:property name="prop_wrist_1_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_1_cog']}" scope="parent"/>
+    <xacro:property name="prop_wrist_2_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_2_cog']}" scope="parent"/>
+    <xacro:property name="prop_wrist_3_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_3_cog']}" scope="parent"/>
+
+    <!-- inertia  -->
+    <xacro:property name="prop_base_inertia" value="${sec_inertia_parameters['inertia']['base']}" scope="parent"/>
+    <xacro:property name="prop_shoulder_inertia" value="${sec_inertia_parameters['inertia']['shoulder']}" scope="parent"/>
+    <xacro:property name="prop_upperarm_inertia" value="${sec_inertia_parameters['inertia']['upperarm']}" scope="parent"/>
+    <xacro:property name="prop_forearm_inertia" value="${sec_inertia_parameters['inertia']['forearm']}" scope="parent"/>
+    <xacro:property name="prop_wrist_1_inertia" value="${sec_inertia_parameters['inertia']['wrist_1']}" scope="parent"/>
+    <xacro:property name="prop_wrist_2_inertia" value="${sec_inertia_parameters['inertia']['wrist_2']}" scope="parent"/>
+    <xacro:property name="prop_wrist_3_inertia" value="${sec_inertia_parameters['inertia']['wrist_3']}" scope="parent"/>
+
+  </xacro:macro>
+</robot>

unilabos/device_mesh/devices/elite_robot/urdf/inc/cs_transmissions.xacro

@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <xacro:macro name="cs_arm_transmission" params="prefix hw_interface">
+
+    <transmission name="${prefix}shoulder_pan_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}shoulder_pan_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}shoulder_pan_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="${prefix}shoulder_lift_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}shoulder_lift_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}shoulder_lift_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="${prefix}elbow_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}elbow_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}elbow_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="${prefix}wrist_1_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}wrist_1_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}wrist_1_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="${prefix}wrist_2_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}wrist_2_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}wrist_2_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="${prefix}wrist_3_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}wrist_3_joint">
+        <hardwareInterface>${hw_interface}</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}wrist_3_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+  </xacro:macro>
+
+</robot>