true 1000.0 true 1.0 5 -10.0 1.0 10.0 1200000.0 diagnostic battery_state self_test true 1000.0 -75.05 fl_caster_l_wheel_collision 100.0 true 100.0 fl_caster_l_wheel_bumper 75.05 fl_caster_r_wheel_collision 100.0 true 100.0 fl_caster_r_wheel_bumper -75.05 -75.05 fr_caster_l_wheel_collision 100.0 true 100.0 fr_caster_l_wheel_bumper 75.05 fr_caster_r_wheel_collision 100.0 true 100.0 fr_caster_r_wheel_bumper -75.05 -75.05 bl_caster_l_wheel_collision 100.0 true 100.0 bl_caster_l_wheel_bumper 75.05 bl_caster_r_wheel_collision 100.0 true 100.0 bl_caster_r_wheel_bumper -75.05 -75.05 br_caster_l_wheel_collision 100.0 true 100.0 br_caster_l_wheel_bumper 75.05 br_caster_r_wheel_collision 100.0 true 100.0 br_caster_r_wheel_bumper -75.05 base_collision 100.0 true 100.0 base_bumper true 100.0 base_link base_pose_ground_truth 0.01 map 25.7 25.7 0 0 0 0 640 640 1 0.0 0.0 0.0 false -100 100 0.05 10.0 0.01 20.0 0.005 true 20.0 base_scan base_laser true 100.0 plug_magnet plug_magnet_pose_ground_truth 0.01 map 0 0 0 0 0 0 -52143.33 6.0 6.0 r_shoulder_pan_collision 100.0 true 100.0 r_shoulder_pan_bumper true r_shoulder_lift_collision_geom 100.0 true 100.0 r_r_shoulder_lift_bumper true true r_upper_arm_collision_geom 100.0 true 100.0 r_upper_arm_bumper true r_elbow_flex_collision_geom 100.0 true 100.0 r_elbow_flex_bumper true true true r_forearm_collision 100.0 true 100.0 r_forearm_bumper true r_wrist_flex_collision 100.0 true 100.0 r_wrist_flex_bumper true r_wrist_roll_collision 100.0 true 100.0 r_wrist_roll_bumper 63.16 61.89 32.65 -36.17 90.5142857143 true r_gripper_l_finger_collision 100.0 true 100.0 r_gripper_l_finger_bumper true r_gripper_r_finger_collision 100.0 true 100.0 r_gripper_r_finger_bumper true r_gripper_l_finger_tip_collision 100.0 true 100.0 r_gripper_l_finger_tip_bumper true r_gripper_r_finger_tip_collision 100.0 true 100.0 r_gripper_r_finger_tip_bumper true 100.0 r_gripper_l_finger_link r_gripper_l_finger_pose_ground_truth 0.0 map true 100.0 r_gripper_l_finger_link r_gripper_l_finger_force_ground_truth r_gripper_l_finger_link true r_gripper_palm_collision 100.0 true 100.0 r_gripper_palm_bumper true r_gripper_l_finger_tip_link r_gripper_float_link r_gripper_l_finger_tip_link 0 1 0 0 0 0 r_gripper_r_finger_tip_link r_gripper_float_link r_gripper_r_finger_tip_link 0 1 0 0 0 0 true 100.0 r_gripper_palm_link r_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map true l_shoulder_pan_collision 100.0 true 100.0 l_shoulder_pan_bumper true l_shoulder_lift_collision_geom 100.0 true 100.0 l_r_shoulder_lift_bumper true true l_upper_arm_collision_geom 100.0 true 100.0 l_upper_arm_bumper true l_elbow_flex_collision_geom 100.0 true 100.0 l_elbow_flex_bumper true true true l_forearm_collision 100.0 true 100.0 l_forearm_bumper true l_wrist_flex_collision 100.0 true 100.0 l_wrist_flex_bumper true l_wrist_roll_collision 100.0 true 100.0 l_wrist_roll_bumper 63.16 61.89 32.65 -36.17 90.5142857143 true l_gripper_l_finger_collision 100.0 true 100.0 l_gripper_l_finger_bumper true l_gripper_r_finger_collision 100.0 true 100.0 l_gripper_r_finger_bumper true l_gripper_l_finger_tip_collision 100.0 true 100.0 l_gripper_l_finger_tip_bumper true l_gripper_r_finger_tip_collision 100.0 true 100.0 l_gripper_r_finger_tip_bumper true 100.0 l_gripper_l_finger_link l_gripper_l_finger_pose_ground_truth 0.0 map true 100.0 l_gripper_l_finger_link l_gripper_l_finger_force_ground_truth l_gripper_l_finger_link true l_gripper_palm_collision 100.0 true 100.0 l_gripper_palm_bumper true l_gripper_l_finger_tip_link l_gripper_float_link l_gripper_l_finger_tip_link 0 1 0 0 0 0 l_gripper_r_finger_tip_link l_gripper_float_link l_gripper_r_finger_tip_link 0 1 0 0 0 0 true 100.0 l_gripper_palm_link l_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map true