1 <?xml version="1.0"?>
   2 
   3 <xsl:stylesheet version="1.0"
   4                 xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
   5 
   6   <!-- Shoulder pan transmissions -->
   7   <xsl:template match="transmission[contains(@name,'_shoulder_pan_trans')]">
   8     <transmission type="pr2_mechanism_model/PR2BeltCompensatorTransmission">
   9       <xsl:attribute name="name">
  10         <xsl:value-of select="@name" />
  11       </xsl:attribute>
  12       <xsl:apply-templates select="joint" />
  13       <xsl:apply-templates select="actuator" />
  14       <xsl:apply-templates select="mechanicalReduction" />
  15       <compensator k_belt="4000.0"
  16                    mass_motor="0.05"
  17                    kd_motor="15.0"
  18                    lambda_motor="30.0"
  19                    lambda_joint="50.0"
  20                    lambda_combined="20.0" />
  21     </transmission>
  22   </xsl:template>
  23 
  24 
  25   <!-- Shoulder lift transmissions -->
  26   <xsl:template match="transmission[contains(@name,'_shoulder_lift_trans')]">
  27     <transmission type="pr2_mechanism_model/PR2BeltCompensatorTransmission">
  28       <xsl:attribute name="name">
  29         <xsl:value-of select="@name" />
  30       </xsl:attribute>
  31       <xsl:apply-templates select="joint" />
  32       <xsl:apply-templates select="actuator" />
  33       <xsl:apply-templates select="mechanicalReduction" />
  34       <compensator k_belt="4000.0"
  35                    mass_motor="0.05"
  36                    kd_motor="10.0"
  37                    lambda_motor="30.0"
  38                    lambda_joint="50.0"
  39                    lambda_combined="20.0" />
  40     </transmission>
  41   </xsl:template>
  42 
  43 
  44   <!-- Upper arm roll transmissions -->
  45   <xsl:template match="transmission[contains(@name,'_upper_arm_roll_trans')]">
  46     <transmission type="pr2_mechanism_model/PR2BeltCompensatorTransmission">
  47       <xsl:attribute name="name">
  48         <xsl:value-of select="@name" />
  49       </xsl:attribute>
  50       <xsl:apply-templates select="joint" />
  51       <xsl:apply-templates select="actuator" />
  52       <xsl:apply-templates select="mechanicalReduction" />
  53       <compensator k_belt="4000.0"
  54                    mass_motor="0.05"
  55                    kd_motor="5.0"
  56                    lambda_motor="30.0"
  57                    lambda_joint="50.0"
  58                    lambda_combined="20.0" />
  59     </transmission>
  60   </xsl:template>
  61 
  62 
  63   
  64   
  65   <!-- identity template -->
  66   <xsl:template match="@*|node()">
  67     <xsl:copy>
  68       <xsl:apply-templates select="@*|node()"/>
  69     </xsl:copy>
  70   </xsl:template>
  71   
  72 </xsl:stylesheet>