/nao_dcm gazebo_ros_control/DefaultRobotHWSim LHipYawPitch RHipYawPitch 1.0 0.0 LHand LFinger11 -0.785398163398 0.785398163398 LHand LFinger12 -0.785398163398 0.785398163398 LHand LFinger13 -0.785398163398 0.785398163398 LHand LFinger21 -0.785398163398 0.785398163398 LHand LFinger22 -0.785398163398 0.785398163398 LHand LFinger23 -0.785398163398 0.785398163398 RHand RFinger11 -0.785398163398 0.785398163398 RHand RFinger12 -0.785398163398 0.785398163398 RHand RFinger13 -0.785398163398 0.785398163398 RHand RFinger21 -0.785398163398 0.785398163398 RHand RFinger22 -0.785398163398 0.785398163398 RHand RFinger23 -0.785398163398 0.785398163398 LHand LThumb1 -0.785398163398 0.785398163398 LHand LThumb2 -0.785398163398 0.785398163398 RHand RThumb1 -0.785398163398 0.785398163398 RHand RThumb2 -0.785398163398 0.785398163398 LFinger11_link LFinger12_link LFinger13_link LFinger21_link LFinger22_link LFinger23_link LThumb1_link LThumb2_link l_gripper RFinger11_link RFinger12_link RFinger13_link RFinger21_link RFinger22_link RFinger23_link RThumb1_link RThumb2_link r_gripper 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false true 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 1 0 0 0.1 0.003 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 0.5 0.5 false false 1 0 0 0.1 0.003 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 0.5 0.5 false true 5.0 1.06290551 640 480 R8G8B8 0.3 500 gaussian 0.0 0.007 nao_robot true 5.0 camera/top image_raw camera_info CameraTop_optical_frame 0.07 -0.0545211 0.06919734 -0.0241095 -0.0112245 0.0 5.0 1.06290551 640 480 R8G8B8 0.05 500 gaussian 0.0 0.007 /nao_robot true 5.0 camera_bottom image_raw camera_info CameraBottom_optical_frame 0.07 -0.0648764 0.06125202 0.00382815 -0.00551104 0.0 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false RFsrFL_frame_collision nao_robot true FSR/RFoot/FrontLeft RFsrFL_frame 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false RFsrFR_frame_collision nao_robot true FSR/RFoot/FrontRight RFsrFR_frame 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false RFsrRL_frame_collision nao_robot true FSR/RFoot/RearLeft RFsrRL_frame 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false RFsrRR_frame_collision nao_robot true FSR/RFoot/RearRight RFsrRR_frame 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false LFsrFL_frame_collision nao_robot true FSR/LFoot/FrontLeft RFsrFL_frame 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false LFsrFR_frame_collision nao_robot true FSR/LFoot/FrontRight LFsrFR_frame 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false LFsrRL_frame_collision nao_robot true FSR/LFoot/RearLeft LFsrRL_frame 0.5 0.5 false false 1 0 0 0.1 0.003 1 20 false LFsrRR_frame_collision nao_robot true FSR/LFoot/RearRight LFsrRR_frame 0 0 0 0 0 0 20 false 5 1 -0.2617993877991494 0.2617993877991494 5 1 -0.13 0.13 0.025 2.55 1 nao_robot 0.05 true 20 sonar_left LSonar_frame 0.025 2.55 0.5235987755982988 ultrasound 0 0 0 0 0 0 20 false 5 1 -0.2617993877991494 0.2617993877991494 5 1 -0.13 0.13 0.025 2.55 1 nao_robot 0.05 true 20 sonar_right RSonar_frame 0.025 2.55 0.5235987755982988 ultrasound transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 150.27 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 173.22 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 150.27 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 173.22 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 150.27 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 173.22 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 50.61 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 36.24 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 150.27 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 173.22 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 150.27 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 173.22 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 50.61 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 36.24 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 201.3 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 201.3 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 130.85 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 130.85 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 130.85 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 201.3 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 201.3 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 201.3 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 130.85 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 130.85 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 130.85 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 201.3