how creat Transmission between two parallel link like gears in urdf ??

hi . how creat Transmission between two parallel link like gears in urdf ?? i have two gears in my urdf . when rotate gear 1 , gear 2 is fixed and not rotate!

i want rotate two gears in same time . U31_1 and U32_1 are gears .

     <link
<inertial>
<origin
xyz="-8.87891218881443E-11 7.94085594724159E-07 -0.00670118881241989"
rpy="0 0 0" />
<mass
value="0.0791354618215319" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
</geometry>
</collision>
<joint
name="joint_U31_1"
type="revolute">
<origin
xyz="0.0375000001895901 0 0.0547500000000001"
rpy="0 6.93889390390723E-16 0" />
<parent
<child
<axis
xyz="0 0 1" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
</joint>
<inertial>
<origin
xyz="-1.49046497366356E-10 -0.000127794819901189 1.88843510273706E-10"
rpy="0 0 0" />
<mass
value="0.019633991990533" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<inertial>
<origin
xyz="-1.49046497366356E-10 -0.000127794819901189 1.88843510273706E-10"
rpy="0 0 0" />
<mass
value="0.019633991990533" />
<inertia
ixx="0"
ixy="0"
ixz="0"
iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
</geometry>
</collision>
<joint
name="joint_U32_1"
type="revolute">
<origin
xyz="-0.0075000004012061 0 0.0422500000000005"
rpy="1.5707963267949 0 1.5707963267949" />
<parent
<child
<axis
xyz="0 1 0" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
</joint>
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
</geometry>
</collision>
<joint
name="joint_U32_1"
type="revolute">
<origin
xyz="-0.0075000004012061 0 0.0422500000000005"
rpy="1.5707963267949 0 1.5707963267949" />
<parent
<child
<axis
xyz="0 1 0" />
<limit effort="1.0" lower="-1.75" upper="1.75" velocity="3.14"/>
</joint>

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you can do the mimic of the joint.

here is the description

http://wiki.ros.org/urdf/XML/joint

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