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0 0 1 0.01 0 31.3981 1e+07 1 1 true true 1000.0 true 1.0 5 power_state 10.0 87.78 -474 525 15.52 16.41 true 100.0 base_pose_ground_truth 0.01 map 25.7 25.7 0 0 0 0 base_footprint 0 0 0 0 -0 0 base_footprint true 100.0 torso_lift_imu/data 2.89e-08 0 0 0 0 0 0 torso_lift_link 0 0 0 0 -0 0 true 15.0 stereo_projection_pattern_high_res_red.png stereo_projection_pattern_filter.png projector_wg6802418_controller/image projector_wg6802418_controller/projector 0.785398163397 0.4 10 head_tilt_link 0 0 0 0 -0 0 true 100.0 r_gripper_l_finger_link r_gripper_l_finger_pose_ground_truth 0.0 base_link 0 0 0 0 -0 0 true 100.0 r_gripper_l_finger_link r_gripper_l_finger_force_ground_truth r_gripper_l_finger_link true 0.17126 7.7562e-05 1.49095e-06 -9.83385e-06 0.000197083 -3.06125e-06 0.000181054 0.03598 0.0173 -0.00164 0.82991 -0.157 0.790675 0 -0 0 true false true 0.17389 7.73841e-05 -2.09309e-06 -8.36228e-06 0.000198474 2.4611e-06 0.00018107 0.03576 -0.01736 -0.00095 0.82991 -0.219 0.790675 0 -0 0 true false r_gripper_r_parallel_link 0 0 -1 0.2 0.05891 -0.031 0 r_wrist_roll_link r_wrist_roll_link r_gripper_l_parallel_link 0 0 1 0.2 0.05891 0.031 0 r_wrist_roll_link r_wrist_roll_link r_gripper_r_parallel_link r_gripper_r_finger_tip_link r_gripper_r_finger_tip_link 0 0 1 -0.018 -0.021 0 r_gripper_l_parallel_link r_gripper_l_finger_tip_link r_gripper_l_finger_tip_link 0 0 1 -0.018 0.021 0 r_gripper_l_finger_tip_link r_gripper_r_finger_tip_link r_gripper_r_finger_tip_link 0 1 0 true 100.0 r_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map 0 0 0 0 -0 0 r_wrist_roll_link true 100.0 l_gripper_l_finger_link l_gripper_l_finger_pose_ground_truth 0.0 base_link 0 0 0 0 -0 0 true 100.0 l_gripper_l_finger_link l_gripper_l_finger_force_ground_truth l_gripper_l_finger_link true 0.17126 7.7562e-05 1.49095e-06 -9.83385e-06 0.000197083 -3.06125e-06 0.000181054 0.03598 0.0173 -0.00164 0.82991 0.219 0.790675 0 -0 0 true false true 0.17389 7.73841e-05 -2.09309e-06 -8.36228e-06 0.000198474 2.4611e-06 0.00018107 0.03576 -0.01736 -0.00095 0.82991 0.157 0.790675 0 -0 0 true false l_gripper_r_parallel_link 0 0 -1 0.2 0.05891 -0.031 0 l_wrist_roll_link l_wrist_roll_link l_gripper_l_parallel_link 0 0 1 0.2 0.05891 0.031 0 l_wrist_roll_link l_wrist_roll_link l_gripper_r_parallel_link l_gripper_r_finger_tip_link l_gripper_r_finger_tip_link 0 0 1 -0.018 -0.021 0 l_gripper_l_parallel_link l_gripper_l_finger_tip_link l_gripper_l_finger_tip_link 0 0 1 -0.018 0.021 0 l_gripper_l_finger_tip_link l_gripper_r_finger_tip_link l_gripper_r_finger_tip_link 0 1 0 false true 100.0 l_gripper_palm_pose_ground_truth 0 0 0 0 0 0 0.0 map l_wrist_roll_link 0 0 0 0 -0 0