<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:macro name="simple_gz_gripper_ros2_control" params="prefix">
    <ros2_control name="GazeboSystem" type="system">
      <hardware>
        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
      </hardware>
      <joint name="${prefix}right_finger_joint">
        <command_interface name="position" />
        <state_interface name="position">
          <param name="initial_value">0.00</param>
        </state_interface>
        <!-- <state_interface name="position" /> -->
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      <joint name="${prefix}left_finger_joint">
        <!-- <param name="mimic">${prefix}right_finger_joint</param> -->
        <!-- <param name="multiplier">1</param> -->
        <state_interface name="position" />
        <state_interface name="velocity" />
        <!-- <state_interface name="effort" /> -->
      </joint>
    </ros2_control>
  </xacro:macro>
</robot>
