We will define ten links and nine joints on this robot, and two links and two joints in the robot gripper.
Let's start by looking at the xacro definition:
<?xml version="1.0"?> <robot name="seven_dof_arm" xmlns:xacro="http://ros.org/wiki/xacro">
Because we are writing a xacro file, we should mention the xacro namespace to parse the file.
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