Xacro를 이용하면 쉽게 입력 가능.

iiwa_14_r820_robot_description/urdf/insert_transmission.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="<http://www.ros.org/wiki/xacro>">
    <xacro:macro name="insert_effort_transmission" params="name">
        <transmission name="${name}_tran">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${name}" >
                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </joint>

            <actuator name="${name}_motor">
                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>

    <xacro:macro name="insert_position_transmission" params="name">
        <transmission name="${name}_tran">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${name}" >
                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </joint>

            <actuator name="${name}_motor">
                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>

    <xacro:macro name="insert_velocity_transmission" params="name">
        <transmission name="${name}_tran">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${name}" >
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </joint>

            <actuator name="${name}_motor">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>
</robot>

움직일 조인트에 위 매크로를 사용한다.

<joint name="a1" type="revolute">
    <parent link="base_link"/>
    <child link="link1"/>
    <origin xyz="0 0 0.1575" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" velocity="${85*pi/180}" lower="${-170*pi/180}" upper="${170*pi/180}"/>
</joint>
<xacro:insert_position_transmission name="a1"/>

7개의 조인트에 대하여 모두 추가한다.

Transmission이 추가된 전체 코드