<transmission name="finger5_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger5_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="hand_base_to_finger5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>