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Add URDF model for gripper with multiple links and joints

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- Created a new URDF file for the gripper, defining its structure.
- Added links: base_frame, plate, screw, craving1, craving2, craving3.
- Defined joints for the gripper's movement, including fixed and revolute joints.
- Included mesh files for visual and collision geometry.
- Set inertial properties for each link with zero mass and inertia.
This commit is contained in:
Даниил Грабарь
2026-04-07 01:52:19 +03:00
parent 1dc17d5949
commit 44dd2505ca
12 changed files with 190 additions and 318 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/iiwa_bringup/launch/digital_twin.launch.py
+13 -11
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@@ -38,7 +38,7 @@ def _runtime_setup(context, *args, **kwatgs):
executable="robot_state_publisher",
name="robot_state_publisher",
output="screen",
parameters=[{"robot_description": robot_description, "use_sim_time": False}],
parameters=[{"robot_description": robot_description, "use_sim_time": True}],
)
webots_launch = IncludeLaunchDescription(
@@ -88,17 +88,19 @@ def _runtime_setup(context, *args, **kwatgs):
parameters=[
moveit_configs.to_dict(),
{"robot_description": robot_description},
{"use_sim_time": True},
],
)
# TODO: не забудь поменять правильное название и имя пакета
moveit_py_node = Node(
# name="motion_planning_node",
package="iiwa_planning",
executable="motion_planning",
output="both",
parameters=[moveit_configs.to_dict()],
)
# moveit_py_node = Node(
# # name="motion_planning_node",
# package="iiwa_planning",
# executable="motion_planning",
# output="both",
# parameters=[moveit_configs.to_dict()],
# )
rviz_launch = Node(
condition=IfCondition(LaunchConfiguration("rviz")),
@@ -110,9 +112,9 @@ def _runtime_setup(context, *args, **kwatgs):
parameters=[
moveit_configs.robot_description,
moveit_configs.robot_description_semantic,
moveit_configs.robot_description_kinematics,
moveit_configs.planning_pipelines,
moveit_configs.joint_limits,
moveit_configs.planning_scene_monitor,
{"use_sim_time": True},
],
)
@@ -124,7 +126,7 @@ def _runtime_setup(context, *args, **kwatgs):
rsp_node,
webots_launch,
move_group,
moveit_py_node,
# moveit_py_node,
rviz_launch,
shutdown_on_rviz_exit,
]
src/iiwa_bringup/launch/supported/webots_controllers.launch.py
+3 -3
View File
@@ -30,7 +30,7 @@ def _setup_controllers(context, *args, **kwargs):
executable="spawner",
output="screen",
arguments=["joint_state_broadcaster"] + tmo,
parameters=[{"use_sim_time": False}],
parameters=[{"use_sim_time": True}],
)
jtc = Node(
@@ -38,7 +38,7 @@ def _setup_controllers(context, *args, **kwargs):
executable="spawner",
output="screen",
arguments=["iiwa_arm_controller"] + tmo,
parameters=[{"use_sim_time": False}],
parameters=[{"use_sim_time": True}],
)
torque_controller_spawner = Node(
@@ -47,7 +47,7 @@ def _setup_controllers(context, *args, **kwargs):
output="screen",
arguments=["forward_torque_controller",
"--inactive"] + tmo,
parameters=[{"use_sim_time": False}]
parameters=[{"use_sim_time": True}]
)
spawner_urdf = URDFSpawner(
src/iiwa_bringup/launch/supported/webots_spawn.launch.py
+1 -1
View File
@@ -34,7 +34,7 @@ def _spawn_setup(context, *args, **kwargs):
parameters=[
{
"robot_description": description,
"use_sim_time": False,
"use_sim_time": True,
"set_robot_state_publisher": False,
},
controller,
src/iiwa_config/config/moveit/iiwa7.srdf
+5 -7
View File
@@ -10,7 +10,7 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="iiwa_arm">
<joint name="world_base_joint"/>
<joint name="virtual"/>
<joint name="joint1"/>
<joint name="joint2"/>
<joint name="joint3"/>
@@ -19,9 +19,6 @@
<joint name="joint6"/>
<joint name="joint7"/>
</group>
<group name="hand">
<link name="link_ee"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="iiwa_arm">
<joint name="joint1" value="0"/>
@@ -42,13 +39,14 @@
<joint name="joint7" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand" parent_link="link7" group="hand"/>
<end_effector name="hand" parent_link="link_ee" group="iiwa_arm"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual" type="fixed" parent_frame="word" child_link="base_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link2" reason="Never"/>
<disable_collisions link1="base_link" link2="link3" reason="Never"/>
<disable_collisions link1="base_link" link2="link4" reason="Never"/>
<disable_collisions link1="base_link" link2="link7" reason="Never"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link4" reason="Never"/>
@@ -70,4 +68,4 @@
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
<disable_collisions link1="link5" link2="link7" reason="Never"/>
<disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
</robot>
</robot>
src/iiwa_config/config/rviz/rviz_moveit.rviz
+1 -1
View File
@@ -135,7 +135,7 @@ Visualization Manager:
State Display Time: 3x
Trail Step Size: 1
Trajectory Topic: /display_planned_path
Use Sim Time: false
Use Sim Time: True
Planning Metrics:
Payload: 1
Show Joint Torques: false
src/iiwa_description/resource/meshes/gripper/base_frame.stl
BIN
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src/iiwa_description/resource/meshes/gripper/craving.stl
BIN
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src/iiwa_description/resource/meshes/gripper/finger.stl
BIN
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Binary file not shown.
src/iiwa_description/resource/meshes/gripper/plate.stl
BIN
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Binary file not shown.
src/iiwa_description/resource/meshes/gripper/screw.stl
BIN
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Binary file not shown.
src/iiwa_description/urdf/gripper.urdf
+167
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@@ -0,0 +1,167 @@
<?xml version="1.0"?>
<robot name="gripper">
<link name="base_frame">
<visual>
<origin xyz="-21 -21 6" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/base_frame.stl" />
</geometry>
</visual>
<collision>
<origin xyz="-21 -21 6" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/base_frame.stl" />
</geometry>
</collision>
<inertial>
<mass value="0.0"/>
<origin xyz=" 0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="plate">
<visual>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/plate.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/plate.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.0"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="screw">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/screw.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/screw.stl"/>
</geometry>
</collision>
</link>
<link name="craving1">
<inertial>
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</collision>
</link>
<link name="craving2">
<inertial>
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</collision>
</link>
<link name="craving3">
<inertial>
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</collision>
</link>
<joint name="base" type="fixed">
<origin xyz="0.0 0.0 61" rpy="0.0 0.0 0.0"/>
<parent link="base_frame"/>
<child link="plate"/>
</joint>
<joint name="base_screw" type="prismatic">
<origin xyz="0.0 0.0 72" rpy="0.0 0.0 0.0"/>
<parent link="base_frame"/>
<child link="screw"/>
<axis xyz="0.0 0.0 1"/>
<limit lower="-7" upper="0.0" effort="0.0" velocity="0.0"/>
</joint>
<joint name="craving1_joint" type="revolute">
<origin xyz="15.5 -9.5 4" rpy="0.0 0 -0.55"/>
<parent link="screw"/>
<child link="craving1"/>
<axis xyz="0.0 1 0.0"/>
<limit lower="-0.3" upper="0.2" effort="5.0" velocity="1.0"/>
<dynamics damping="0.05" friction="0.05"/>
<mimic joint="base_screw" multiplier="0.07" offset="0.2"/>
</joint>
<joint name="craving2_joint" type="revolute">
<origin xyz="-15.5 -9.5 4" rpy="0.0 0 0.55"/>
<parent link="screw"/>
<child link="craving2"/>
<axis xyz="0.0 1 0.0"/>
<limit lower="-0.2" upper="0.3" effort="5.0" velocity="1.0"/>
<dynamics damping="0.05" friction="0.05"/>
<mimic joint="base_screw" multiplier="-0.07" offset="-0.2"/>
</joint>
<joint name="craving3_joint" type="revolute">
<origin xyz="0 18 4" rpy="0.0 0 1.57"/>
<parent link="screw"/>
<child link="craving3"/>
<axis xyz="0.0 1 0.0"/>
<limit lower="-0.3" upper="0.2" effort="5.0" velocity="1.0"/>
<dynamics damping="0.05" friction="0.05"/>
<mimic joint="base_screw" multiplier="0.07" offset="0.2"/>
</joint>
</robot>
src/iiwa_description/urdf/iiwa7.urdf
-295
View File
@@ -1,295 +0,0 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from iiwa7.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="iiwa7">
<link name="world"/>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.012856764088336 7.05371084939836E-07 0.0679655592591469"/>
<mass value="30.2763517543289"/>
<inertia ixx="0.111239565538359" ixy="-3.81097437253422e-07" ixz="0.00486659750522703" iyy="0.139017104291389" iyz="7.87871531503135e-07" izz="0.133028621926226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/base_link.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="link1">
<inertial>
<origin rpy="0 0 0" xyz="-4.78790441849064E-07 -0.0348192058752328 -0.0692021315991948"/>
<mass value="21.1627406257303"/>
<inertia ixx="0.133321610552378" ixy="-5.3830316300325e-07" ixz="9.16989471201082e-07" iyy="0.127213841326705" iyz="0.0236704924620788" izz="0.047155320135412"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link1.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link1.STL"/>
</geometry>
</collision>
</link>
<link name="link2">
<inertial>
<origin rpy="0 0 0" xyz="-5.2906167189587E-07 -0.0869460684741495 0.0287906957294968"/>
<mass value="25.1403147192251"/>
<inertia ixx="0.197631241693207" ixy="9.50708464039702e-08" ixz="-3.51963818841194e-07" iyy="0.0602720613821397" iyz="-0.0367196702125505" izz="0.187557269753206"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link2.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link2.STL"/>
</geometry>
</collision>
</link>
<link name="link3">
<inertial>
<origin rpy="0 0 0" xyz="8.94264666317923E-07 0.0343188244798595 -0.0692020521907963"/>
<mass value="21.1627874292289"/>
<inertia ixx="0.133322417523041" ixy="-2.72387851582384e-07" ixz="-2.31579646685682e-07" iyy="0.127213838333813" iyz="-0.0236710393468367" izz="0.0471557500559207"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link3.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link3.STL"/>
</geometry>
</collision>
</link>
<link name="link4">
<inertial>
<origin rpy="0 0 0" xyz="9.9343785475714E-08 -0.0869462342636022 -0.0292907044657978"/>
<mass value="25.140328983289"/>
<inertia ixx="0.197630839812683" ixy="-3.9082887807781e-07" ixz="-3.24564289064112e-07" iyy="0.0602723071447973" iyz="0.0367195588674331" izz="0.187556898167347"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link4.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link4.STL"/>
</geometry>
</collision>
</link>
<link name="link5">
<inertial>
<origin rpy="0 0 0" xyz="-1.5059645121912E-07 -0.0298223596156005 -0.116233672352317"/>
<mass value="9.53466992761605"/>
<inertia ixx="0.0529038960536523" ixy="6.86274869084724e-08" ixz="3.57472026918582e-07" iyy="0.0444942713885967" iyz="0.0174914068345989" izz="0.0239916848880951"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link5.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link5.STL"/>
</geometry>
</collision>
</link>
<link name="link6">
<inertial>
<origin rpy="0 0 0" xyz="3.09820422451923E-06 -0.000588422963829549 0.000348569863276505"/>
<mass value="14.2007599322815"/>
<inertia ixx="0.0384515762635731" ixy="-6.70279497724119e-08" ixz="2.19173188415509e-06" iyy="0.0280010940276735" iyz="-0.00192249677468735" izz="0.0368124806983828"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link6.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link6.STL"/>
</geometry>
</collision>
</link>
<link name="link7">
<inertial>
<origin rpy="0 0 0" xyz="5.28878934317328E-07 3.37199922245852E-07 -0.0274928177649973"/>
<mass value="2.47156969383589"/>
<inertia ixx="0.00177365937026673" ixy="-1.2410521430667e-07" ixz="-2.95409038849194e-08" iyy="0.00177328722902027" iyz="-1.57567641084958e-08" izz="0.00272748710623445"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/visual/link7.DAE"/>
</geometry>
<material name="iiwa_material">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/resource/meshes/collision/link7.STL"/>
</geometry>
</collision>
</link>
<link name="link_ee"/>
<joint name="world_base_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.3375"/>
<parent link="base_link"/>
<child link="link1"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.97" upper="2.97" velocity="1.71"/>
</joint>
<joint name="joint2" type="revolute">
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<parent link="link1"/>
<child link="link2"/>
<axis xyz="0 0 1"/>
<limit effort="500" lower="-2.09" upper="2.09" velocity="1.71"/>
</joint>
<joint name="joint3" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
<parent link="link2"/>
<child link="link3"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.97" upper="2.97" velocity="1.75"/>
</joint>
<joint name="joint4" type="revolute">
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<parent link="link3"/>
<child link="link4"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.09" upper="2.09" velocity="2.27"/>
</joint>
<joint name="joint5" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.3993 0"/>
<parent link="link4"/>
<child link="link5"/>
<axis xyz="0 0 -1"/>
<limit effort="500" lower="-2.97" upper="2.97" velocity="2.44"/>
</joint>
<joint name="joint6" type="revolute">
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<parent link="link5"/>
<child link="link6"/>
<axis xyz="0 0 1"/>
<limit effort="500" lower="-2.09" upper="2.09" velocity="3.14"/>
</joint>
<joint name="joint7" type="revolute">
<origin rpy="1.5708 0 0" xyz="0 -0.126 0"/>
<parent link="link6"/>
<child link="link7"/>
<axis xyz="0 0 1"/>
<limit effort="500" lower="-3.05" upper="3.05" velocity="3.14"/>
</joint>
<joint name="tools_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<parent link="link7"/>
<child link="link_ee"/>
</joint>
<webots>
<plugin type="webots_ros2_control::Ros2Control"/>
</webots>
<ros2_control name="iiwaWebotsControl" type="system">
<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
<!-- <plugin>mock_components/GenericSystem</plugin> -->
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint2">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint3">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint4">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint5">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint6">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
<joint name="joint7">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0</param>
</state_interface>
</joint>
</ros2_control>
</robot>