0 0 0.5 0 0 0 0 0 0.0 0.0 15.5 0.4 0 0 0.4 0 0.8 0 0 0 0 0 0 1 0 0 .025 0 0 0 1 1 1 model://anna_1/meshes/anna.stl 0 -0.03 .127 0 0 0 0.35355339059327373 0.443553 0.2 0.001 0 1000 500 0.22 -0.025 -0.25 -0.35 0 1.5708 0.015 0.015 0.45 0.001 0 1000 500 -0.24 -0.025 -0.25 0.35 0 1.5708 0.015 0.015 0.45 0.001 0 1000 500 -0.31 -0.022 -0.465 0 0 1.5708 0.5 0.015 0.015 0.001 0 1000 500 0.3 -0.022 -0.465 0 0 1.5708 0.5 0.015 0.015 0.001 0 1000 500 0 0 0 3.141593 0 -1.5708 1 1000 0.05 0.09 -0.08 0 0 1.5708 1 0 4.25 0.0272 0 0 0.095625 0 0.212825 0 0 0 0 0 0 0 0 -0.15 0.17 0 0 1.5708 1.5708 1 1 1 model://anna_1/meshes/TattuPlus_battery.stl 0 10 0 0 0 0 0 1.5708 0.08 0.15 0.217 1 1 0 0 0 0 0 0 1 1 0 0.2 1e+13 1 0 0.001 1 -0.01 0 0.2 1e+13 1 base_link battery_0 0 0 1 -1e+16 1e+16 0.004 1 1 -0.06 0.09 -0.08 0 0 1.5608 1 0 4.25 0.0272 0 0 0.095625 0 0.212825 0 0 0 0 0 0 0 0 -0.05 0.06 0 0 1.5708 1.5708 1 1 1 model://anna_1/meshes/TattuPlus_battery.stl 0 10 0 -0.04 0 0 0 0 0.08 0.15 0.217 1 1 0 0 0 0 0 0 1 1 0 0.2 1e+13 1 0 0.001 1 -0.01 0 0.2 1e+13 1 base_link battery_1 0 0 1 -1e+16 1e+16 0.004 1 1 0.49 -0.52 0.05 0.08 -0.08 0 1 0 0.0160769 3.8e-07 0 0 2.612e-05 0 2.65e-05 0 0 0 0 0 0 0 0 0 -0.001 -0.038 3.14159 0 2.69159 1 1 1 model://anna_1/meshes/5010Base.dae 0 1 -0.0303 -0.0476 -0.02 -1.5708 0 0 0.0006 0.0006 0.0006 model://anna_1/meshes/R3090_ccw.stl 0 1 0 0 -0.032 3.14159 0 0 1 1 1 model://anna_1/meshes/5010Bell.dae 0 1 0 10 0 0 0 0 0 0 0.44 0.016923 0.000846 1 1 0 0 0 0 0 1 0 0 1 0 0 1e+06 0 1 1 0 0.2 1e+13 1 0 0.001 1 -0.01 0 0.2 1e+13 1 base_link rotor_0 0 0 1 -1e+16 1e+16 0.004 1 1 -0.52 0.499 0.05 0.08 -0.08 0 1 0 0.0160769 3.8e-07 0 0 2.612e-05 0 2.65e-05 0 0 0 0 0 0 0 0 0 -0.001 -0.038 3.14159 0 2.69159 1 1 1 model://anna_1/meshes/5010Base.dae 0 1 -0.0303 -0.0476 -0.02 -1.5708 0 0 0.0006 0.0006 0.0006 model://anna_1/meshes/R3090_ccw.stl 0 1 0 0 -0.032 3.14159 0 0 1 1 1 model://anna_1/meshes/5010Bell.dae 0 10 0 0 0 0 0 0 0.44 0.016923 0.000846 1 1 0 0 0 0 0 1 0 0 1 0 0 1e+06 0 1 1 0 0.2 1e+13 1 0 0.001 1 -0.01 0 0.2 1e+13 1 base_link rotor_1 0 0 1 -1e+16 1e+16 0.004 1 1 0.5085 0.5 0.05 0.08 0.08 0 1 0 0.0160769 3.8e-07 0 0 2.612e-05 0 2.65e-05 0 0 0 0 0 0 0 0 0 -0.001 -0.038 3.14159 0 2.69159 1 1 1 model://anna_1/meshes/5010Base.dae 0 1 -0.0303 -0.0476 -0.02 -1.5708 0 0 0.0006 0.0006 0.0006 model://anna_1/meshes/R3090_cw.stl 0 1 0 0 -0.032 3.14159 0 0 1 1 1 model://anna_1/meshes/5010Bell.dae 0 1 0 10 0 0 0 0 0 0 0.44 0.016923 0.000846 1 1 0 0 0 0 0 1 0 0 1 0 0 1e+06 0 1 1 0 0.2 1e+13 1 0 0.001 1 -0.01 0 0.2 1e+13 1 base_link rotor_2 0 0 1 -1e+16 1e+16 0.004 1 1 -0.5085 -0.52 0.05 0.08 0.08 0 1 0 0.0160769 3.8e-07 0 0 2.612e-05 0 2.65e-05 0 0 0 0 0 0 0 0 0 -0.001 -0.038 3.14159 0 2.69159 1 1 1 model://anna_1/meshes/5010Base.dae 0 1 -0.0303 -0.0476 -0.02 -1.5708 0 0 0.0006 0.0006 0.0006 model://anna_1/meshes/R3090_cw.stl 0 1 0 0 -0.032 3.14159 0 0 1 1 1 model://anna_1/meshes/5010Bell.dae 0 1 0 10 0 0 0 0 0 0 0.44 0.016923 0.000846 1 1 0 0 0 0 0 1 0 0 1 0 0 1e+06 0 1 1 0 0.2 1e+13 1 0 0.001 1 -0.01 0 0.2 1e+13 1 base_link rotor_3 0 0 1 -1e+16 1e+16 0.004 1 1 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 0.2 0 0 0 1 0 0 0 1 rotor_0 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 -0.2 0 0 0 -1 0 0 0 1 rotor_0 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 0.2 0 0 0 1 0 0 0 1 rotor_1 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 -0.2 0 0 0 -1 0 0 0 1 rotor_1 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 0.2 0 0 0 -1 0 0 0 1 rotor_2 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 -0.2 0 0 0 1 0 0 0 1 rotor_2 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 0.2 0 0 0 -1 0 0 0 1 rotor_3 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.008 1.2041 -0.2 0 0 0 1 0 0 0 1 rotor_3 127.0.0.1 9022 9023 0 0 0 180 0 0 0 0 0 180 0 90 base_link::imu_sensor 5 VELOCITY 0 0.5 0.1 0 0 0 3 -3 rotor_0_joint 832 1 VELOCITY 0 0.5 0.1 0 0 0 3 -3 rotor_1_joint 832 1 VELOCITY 0 0.5 0.1 0 0 0 3 -3 rotor_2_joint -832 1 VELOCITY 0 0.5 0.1 0 0 0 3 -3 rotor_3_joint -832 1