fix: align iiwa controller with FRI lifecycle and use JTC without EMA

src/iiwa_description/urdf/iiwa7.urdf.xacro

@@ -6,8 +6,6 @@
     <xacro:arg name="simulate" default="false"/>
     <xacro:arg name="robot_ip" default="192.170.10.2"/>
     <xacro:arg name="fri_port" default="30200"/>
-    <xacro:arg name="joint_position_tau" default="0.04"/>
-    <xacro:arg name="joint_velocity_tau" default="0.01"/>
 
     <xacro:property name="initial_positions"
                     value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
@@ -146,8 +144,6 @@
                 <param name="robot_ip">$(arg robot_ip)</param>
                 <param name="fri_port">$(arg fri_port)</param>
                 <param name="simulate">false</param>
-                <param name="joint_position_tau">$(arg joint_position_tau)</param>
-                <param name="joint_velocity_tau">$(arg joint_velocity_tau)</param>
             </hardware>
 
             <joint name="joint1">