model://zephyr 0.13 3.7 0.06417112299 0.0 0.3391428111 -3.85 -0.9233984055 0.0 0 -0.1 0 0.50 1.2041 0 -1 0 0 0 1 zephyr::wing 0.15 6.8 0.06417112299 0.0 0.6391428111 -3.85 -0.9233984055 0.0 0.7 0.20 0 0.10 1.2041 0 -1 0 0 0 1 zephyr::wing zephyr::flap_left_joint -5.0 0.15 6.8 0.06417112299 0.0 0.6391428111 -3.85 -0.9233984055 0.0 -0.7 0.20 0 0.10 1.2041 0 -1 0 0 0 1 zephyr::wing zephyr::flap_right_joint -5.0 0.0 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0.0 -0.76 0.30 0.025 0.12 1.2041 0 -1 0 1 0 0 zephyr::wing 0.0 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0.0 0.76 0.30 0.025 0.12 1.2041 0 -1 0 1 0 0 zephyr::wing 0.30 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.02 1.2041 0 0 0.074205 -1 0 0 0 -1 0 zephyr::propeller 0.30 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.02 1.2041 0 0 -0.074205 1 0 0 0 -1 0 zephyr::propeller zephyr::propeller_joint zephyr::flap_left_joint zephyr::flap_right_joint 127.0.0.1 9002 5 1 0 0 0 180 0 -90 0 0 0 180 0 90 zephyr::imu_link::imu_sensor zephyr::propeller_joint 1 838 0 1100 1900 VELOCITY 0.20 0 0 0 0 2.5 0.0 zephyr::flap_left_joint 1 -1.048 -0.5 1100 1900 POSITION 10.0 0 0 0 0 2.5 -2.5 zephyr::flap_right_joint 1 -1.048 -0.5 1100 1900 POSITION 10.0 0 0 0 0 2.5 -2.5