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-- https://github.com/PR2/pr2_common/blob/hydro-devel/pr2_description/urdf/upper_arm_v0/upper_arm.transmission.xacro
-- https://github.com/PR2/pr2_common/blob/hydro-devel/pr2_description/urdf/torso_v0/torso.transmission.xacro
-- https://github.com/PR2/pr2_common/blob/hydro-devel/pr2_description/urdf/shoulder_v0/shoulder.transmission.xacro
-- https://github.com/PR2/pr2_common/blob/hydro-devel/pr2_description/urdf/gripper_v0/gripper.transmission.xacro
-- https://github.com/PR2/pr2_common/blob/hydro-devel/pr2_description/urdf/forearm_v0/forearm.transmission.xacro