0.9 0.9 0.9 0.9 0.9 0.9 1 1 1 transmission_interface/DifferentialTransmission actuator1 1.0 actuator2 1.0 joint1 0.0 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface joint2 0.0 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface 0.9 0.9 1 Gazebo/FlatBlack 0.9 0.9 1 Gazebo/White true 30.0 1.0471975512 B8G8R8 640 480 0.6 8.0 true 30.0 rgbd rgb/image_raw rgb/camera_info depth/image_raw depth/camera_info depth/points rgbd_optical_frame 0.45 10.0 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 30.0 1.0471975512 1280 720 R8G8B8 0.05 100 gaussian 0.0 0.007 true 45.0 rgbd/high_res /rgbd/rgb/high_res/image_raw /rgbd/rgb/high_res/camera_info rgbd_optical_frame 0.0 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 Gazebo/FlatBlack transmission_interface/HalfDifferentialTransmission actuator1 1.0 actuator2 1.0 joint1 0.0 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface joint2 0.0 2.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface 0.9 0.9 Gazebo/FlatBlack 0.9 0.9 Gazebo/FlatBlack 0.9 0.9 Gazebo/FlatBlack 0.9 0.9 Gazebo/FlatBlack 1 1 1 1 0.9 0.9 0.9 0.9 0.9 0.9 Gazebo/FlatBlack 1 1 1 1 transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/DifferentialTransmission actuator1 -1.0 actuator2 1.0 joint1 0.0 -1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface joint2 0.0 -1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface 0.9 0.9 Gazebo/FlatBlack 0.9 0.9 Gazebo/FlatBlack 0.9 0.9 Gazebo/FlatBlack 0.9 0.9 Gazebo/FlatBlack 1 1 1 1 0.9 0.9 0.9 0.9 0.9 0.9 Gazebo/FlatBlack 1 1 1 1 transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/DifferentialTransmission actuator1 -1.0 actuator2 1.0 joint1 0.0 -1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface joint2 0.0 -1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 0.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface gripper_left_joint gripper_left_inner_double_joint 1.0 0.0 gripper_left_joint gripper_left_fingertip_1_joint -1.0 0.0 gripper_left_joint gripper_left_fingertip_2_joint -1.0 0.0 gripper_left_joint gripper_left_inner_single_joint -1.0 0.0 gripper_left_joint gripper_left_motor_single_joint -1.0 0.0 gripper_left_joint gripper_left_fingertip_3_joint -1.0 0.0 1 1 1 1 1 1 1 1 1 1 1 1 Gazebo/FlatBlack Gazebo/Orange Gazebo/Orange Gazebo/FlatBlack Gazebo/Orange Gazebo/Orange Gazebo/FlatBlack Gazebo/FlatBlack transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface gripper_right_joint gripper_right_inner_double_joint 1.0 0.0 gripper_right_joint gripper_right_fingertip_1_joint -1.0 0.0 gripper_right_joint gripper_right_fingertip_2_joint -1.0 0.0 gripper_right_joint gripper_right_inner_single_joint -1.0 0.0 gripper_right_joint gripper_right_motor_single_joint -1.0 0.0 gripper_right_joint gripper_right_fingertip_3_joint -1.0 0.0 1 1 1 1 1 1 1 1 1 1 1 1 Gazebo/FlatBlack Gazebo/Orange Gazebo/Orange Gazebo/FlatBlack Gazebo/Orange Gazebo/Orange Gazebo/FlatBlack Gazebo/FlatBlack transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 1000000.0 100.0 1.0 1.0 1 0 0 1.0 0.00 1 1 1 1 1 1 1 1 Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/White Gazebo/White transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface transmission_interface/SimpleTransmission 1.0 hardware_interface/PositionJointInterface hardware_interface/EffortJointInterface 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 1000000.0 100.0 1.0 1.0 1 0 0 1.0 0.00 1 1 1 1 1 1 1 1 Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/FlatBlack Gazebo/White Gazebo/White pal_hardware_gazebo/PalHardwareGazebo 0.001 base_link floating_base_pose_simulated base_link wrench 1 1000.0 gaussian 0.0 0.0 0.000000 0.0000008 0.0 0.0 0.0 0.000