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0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 BAYER_BGGR8 90 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 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 L8 45 0.1 100 25.0 true 25.0 narrow_stereo/left/image_raw narrow_stereo/left/camera_info narrow_stereo_optical_frame 0 320.5 320.5 240.5 772.55 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 L8 45 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 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 640 1 0.0 0.0 0.0 false -79.9999999086 79.9999999086 0.05 10.0 0.01 20 0.005 true 20 tilt_scan laser_tilt_link -6.05 true 32.6525111499 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 63.1552452977 61.8948225713 r_upper_arm_link_geom 100.0 true 100.0 r_upper_arm_bumper true true -90.5142857143 -1.0 r_elbow_flex_link_geom 100.0 true 100.0 r_elbow_flex_bumper true -36.167452007 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 true 32.6525111499 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 63.1552452977 61.8948225713 l_upper_arm_link_geom 100.0 true 100.0 l_upper_arm_bumper true true -90.5142857143 -1.0 l_elbow_flex_link_geom 100.0 true 100.0 l_elbow_flex_bumper true -36.167452007 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 0.1 100 25.0 true 25.0 l_forearm_cam/image_raw l_forearm_cam/camera_info l_forearm_cam_frame 0 320.5 320.5 240.5 320 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue 640 480 L8 90 0.1 100 25.0 true 25.0 r_forearm_cam/image_raw r_forearm_cam/camera_info r_forearm_cam_frame 0 320.5 320.5 240.5 320 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 true PR2/Blue