<launch>
  <include file="$(find sr_logging_common)/launch/sr_rosbag_log.launch">
    <arg name="log_bag_prefix" value="sr_lhand"/>
  </include>
  <include file="$(find sr_robot_launch)/launch/srhand.launch">
    <arg name="eth_port" value="enp0s31f6" />
    <arg name="hand_serial" value="1850" />
    <arg name="hand_id" value="lh" />

    <arg name="robot_description" value="$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro" />
    <arg name="mapping_path" value="$(find sr_edc_launch)/mappings/default_mappings/lh_E_v3.yaml"/>

    <arg name="use_moveit" value="true"/>
    <arg name="sim" value="false"/>
  </include>
</launch>