0 0 0 0.0 0.0 0.0 model://spiri 0.0 0.0 0.0 0.0 0.0 0 0 link_spiri_attch spiri::base0 0 -0.4 0 0 0 true 1.0 ft_sensor_topic/spiri tether_to_spiri_joint true 0.4 0.0 0 0.0 1.5707 0.0 0.004 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.8 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.8 0.005 0 0 -0.4 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.4 0.005 0.005 0.008 1.2041 0 1 0 0 0 1 link_spiri_attch 0.8 0 0 0 0 0 1 0.25 0 0 0 0 0 0 0.025 0 0 0 0 0 0 0.025 payload link_spiri_attch 0 0 0.4 0 0 0 true 0.8 0 0 0 0 0 0.015 1e-05 0 0 1e-05 0 1e-05 pload_imu payload 1 0 0 0 0 0 0 0 0 0 true pload_imu /pload_imu imu_service 0.0 20.0