$(find iiwa_config)/config/moveit/iiwa_controller.yaml ~/robot_description:=/robot_description gz_ros2_control/GazeboSimSystem -2.97 2.97 ${initial_positions['joint1']} -2.09 2.09 ${initial_positions['joint2']} -2.97 2.97 ${initial_positions['joint3']} -2.09 2.09 ${initial_positions['joint4']} -2.97 2.97 ${initial_positions['joint5']} -2.09 2.09 ${initial_positions['joint6']} -3.05 3.05 ${initial_positions['joint7']} 0.0 iiwa_controller/IIWAHardwareInterface $(arg robot_ip) $(arg fri_port) false $(arg command_mode) -2.97 2.97 -320 320 ${initial_positions['joint1']} -2.09 2.09 -320 320 ${initial_positions['joint2']} -2.97 2.97 -320 320 ${initial_positions['joint3']} -2.09 2.09 -320 320 ${initial_positions['joint4']} -2.97 2.97 -320 320 ${initial_positions['joint5']} -2.09 2.09 -320 320 ${initial_positions['joint6']} -3.05 3.05 -320 320 ${initial_positions['joint7']}