261 lines
11 KiB
XML
261 lines
11 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
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<xacro:arg name="initial_positions_file"
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default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
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<xacro:arg name="simulate" default="false"/>
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<xacro:arg name="robot_ip" default="192.170.10.2"/>
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<xacro:arg name="fri_port" default="30200"/>
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<xacro:arg name="command_mode" default="position"/>
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<xacro:property name="initial_positions"
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value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
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<xacro:include filename="$(find iiwa_description)/urdf/params.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
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<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/>
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<xacro:if value="$(arg simulate)">
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<gazebo>
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<plugin filename="gz_ros2_control-system"
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name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find iiwa_config)/config/moveit/iiwa_controller.yaml</parameters>
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<ros>
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<remapping>~/robot_description:=/robot_description</remapping>
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</ros>
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</plugin>
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</gazebo>
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<ros2_control name="iiwaGazeboControl" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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<joint name="joint1">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint2">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint2']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint3">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint3']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint4">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint4']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint5">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint5']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint6">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint6']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint7">
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<command_interface name="position">
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<param name="min">-3.05</param>
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<param name="max"> 3.05</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint7']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="base_screw">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:if>
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<xacro:unless value="$(arg simulate)">
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<ros2_control name="iiwaFRIControl" type="system">
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<hardware>
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<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
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<param name="robot_ip">$(arg robot_ip)</param>
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<param name="fri_port">$(arg fri_port)</param>
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<param name="simulate">false</param>
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<param name="command_mode">$(arg command_mode)</param>
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</hardware>
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<joint name="joint1">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint2">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint2']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint3">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint3']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint4">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint4']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint5">
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<command_interface name="position">
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<param name="min">-2.97</param>
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<param name="max"> 2.97</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint5']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint6">
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<command_interface name="position">
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<param name="min">-2.09</param>
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<param name="max"> 2.09</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint6']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="joint7">
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<command_interface name="position">
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<param name="min">-3.05</param>
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<param name="max"> 3.05</param>
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</command_interface>
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<command_interface name="effort">
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<param name="min">-320</param>
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<param name="max"> 320</param>
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</command_interface>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint7']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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</ros2_control>
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</xacro:unless>
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</robot> |