true 1000.0 true 1.0 5 power_state 10.0 87.78 -474 525 15.52 16.41 640 640 1 0.0 0.0 0.0 false -80 80 0.05 10.0 0.01 20.0 0.005 true 20.0 base_scan base_laser_link -79.2380952381 79.2380952381 -79.2380952381 -79.2380952381 79.2380952381 -79.2380952381 -79.2380952381 79.2380952381 -79.2380952381 -79.2380952381 79.2380952381 -79.2380952381 true base_link_geom 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 torso_lift_link_geom 100.0 true 100.0 torso_lift_bumper -52143.33 6.0 6.0 R8G8B8 2448 2050 45 0.1 100 20.0 true 20.0 /prosilica/cam_info /prosilica/image /prosilica/image_rect /prosilica/cam_info_service /prosilica/poll hight_def_optical_frame 1224.5 1224.5 1025.5 2955 0 0 0 0 0 640 480 B8G8R8 90.0 0.1 100 25.0 true 25.0 wide_stereo/left/image_raw wide_stereo/left/camera_info wide_stereo_optical_frame 0.0 320.5 320.5 240.5 320.0 0 0 0 0 0 true PR2/Blue true 640 480 B8G8R8 90.0 0.1 100 25.0 true 25.0 wide_stereo/right/image_raw wide_stereo/right/camera_info wide_stereo_optical_frame 0.09 320.5 320.5 240.5 320.0 0 0 0 0 0 true PR2/Blue true true 20.0 wide_stereo_l_stereo_camera_sensor wide_stereo_r_stereo_camera_sensor wide_stereo/raw_stereo wide_stereo_optical_frame 320.5 320.5 240.5 320.0 0 0 0 0 0 -0.09 640 480 L8 45.0 0.1 100 25.0 true 25.0 narrow_stereo/left/image_raw narrow_stereo/left/camera_info narrow_stereo_optical_frame 0.0 320.5 320.5 240.5 772.55 0 0 0 0 0 true PR2/Blue true 640 480 L8 45.0 0.1 100 25.0 true 25.0 narrow_stereo/right/image_raw narrow_stereo/right/camera_info narrow_stereo_optical_frame 0.09 320.5 320.5 240.5 772.55 0 0 0 0 0 true PR2/Blue true true 20.0 narrow_stereo_l_stereo_camera_sensor narrow_stereo_r_stereo_camera_sensor narrow_stereo/raw_stereo narrow_stereo_optical_frame 320.5 320.5 240.5 772.55 0 0 0 0 0 -0.09 640 640 1 0.0 0.0 0.0 false -80 80 0.05 10.0 0.01 40.0 0.005 true 40.0 tilt_scan laser_tilt_link -6.05 r_shoulder_pan_link_geom 100.0 true 100.0 r_shoulder_pan_bumper true r_shoulder_lift_link_geom 100.0 true 100.0 r_r_shoulder_lift_bumper true true 63.16 61.89 32.65 r_upper_arm_link_geom 100.0 true 100.0 r_upper_arm_bumper true -1.0 r_elbow_flex_link_geom 100.0 true 100.0 r_elbow_flex_bumper true true -36.17 90.5142857143 true r_forearm_link_geom 100.0 true 100.0 r_forearm_bumper true r_wrist_flex_link_geom 100.0 true 100.0 r_wrist_flex_bumper true r_wrist_roll_link_geom 100.0 true 100.0 r_wrist_roll_bumper true r_gripper_l_finger_link_geom 100.0 true 100.0 r_gripper_l_finger_bumper true r_gripper_r_finger_link_geom 100.0 true 100.0 r_gripper_r_finger_bumper true false r_gripper_l_finger_tip_link_geom 100.0 true 100.0 r_gripper_l_finger_tip_bumper true false r_gripper_r_finger_tip_link_geom 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_link_geom 100.0 true 100.0 r_gripper_palm_bumper true true 0.01 0.0001 0 0 0.0001 0 0.0001 0 0 0 0.82025 0.188 0.790675 0 -0 0 0 0 0 0 -0 0 0.0 0.0 0.0 0 0 0 0 -0 0 0.0 0.0 0.0 unit_box PR2/White true false r_gripper_float_link r_gripper_palm_link r_gripper_float_link 1 0 0 -0.05 0.001 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 100.0 r_gripper_tool_frame r_gripper_tool_frame_pose_ground_truth 0 0 0 0 0 0 0.0 /map true l_shoulder_pan_link_geom 100.0 true 100.0 l_shoulder_pan_bumper true l_shoulder_lift_link_geom 100.0 true 100.0 l_r_shoulder_lift_bumper true true 63.16 61.89 32.65 l_upper_arm_link_geom 100.0 true 100.0 l_upper_arm_bumper true -1.0 l_elbow_flex_link_geom 100.0 true 100.0 l_elbow_flex_bumper true true -36.17 90.5142857143 true l_forearm_link_geom 100.0 true 100.0 l_forearm_bumper true l_wrist_flex_link_geom 100.0 true 100.0 l_wrist_flex_bumper true l_wrist_roll_link_geom 100.0 true 100.0 l_wrist_roll_bumper true l_gripper_l_finger_link_geom 100.0 true 100.0 l_gripper_l_finger_bumper true l_gripper_r_finger_link_geom 100.0 true 100.0 l_gripper_r_finger_bumper true false l_gripper_l_finger_tip_link_geom 100.0 true 100.0 l_gripper_l_finger_tip_bumper true false l_gripper_r_finger_tip_link_geom 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_link_geom 100.0 true 100.0 l_gripper_palm_bumper true true 0.01 0.0001 0 0 0.0001 0 0.0001 0 0 0 0.82025 0.188 0.790675 0 -0 0 0 0 0 0 -0 0 0.0 0.0 0.0 0 0 0 0 -0 0 0.0 0.0 0.0 unit_box PR2/White true false l_gripper_float_link l_gripper_palm_link l_gripper_float_link 1 0 0 -0.05 0.001 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 100.0 l_gripper_tool_frame l_gripper_tool_frame_pose_ground_truth 0 0 0 0 0 0 0.0 /map true 640 480 L8 90.0 0.1 100 25.0 true 25.0 l_forearm_cam/image_raw l_forearm_cam/camera_info l_forearm_cam_frame 0.0 320.5 320.5 240.5 320.0 0 0 0 0 0 true PR2/Blue true 640 480 L8 90.0 0.1 100 25.0 true 25.0 r_forearm_cam/image_raw r_forearm_cam/camera_info r_forearm_cam_frame 0.0 320.5 320.5 240.5 320.0 0 0 0 0 0 true PR2/Blue true