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 -0.15 0 0 0 true 1.0 ft_sensor_topic/spiri tether_to_spiri_joint true 0.15 0.0 0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_spiri_attch link_spiri_attch link_1 0 0 0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 true true 0.44999999999999996 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_1 true 0.75 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_2 true 1.0499999999999998 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_3 true 1.3499999999999999 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_4 true 1.65 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_5 true 1.9499999999999997 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_6 true 2.25 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_7 true 2.55 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_8 true 2.8499999999999996 0.0 0.0 0.0 1.5707 0.0 0.0015 0.01 0 0 0.01 0 0.01 0.0 0 0 0 0 0 0.3 0.005 0.00005 1.0 1.0 0 0 0 0 0 0 0.3 0.005 0 0 -0.15 0 0 0 0.01 0 0 1.253582 0 1.4326647564469914 true 0.15 0.005 0.005 0.003 1.2041 0 1 0 0 0 1 link_9 link_2 link_1 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 link_3 link_2 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 link_4 link_3 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 link_5 link_4 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 link_6 link_5 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 link_7 link_6 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 link_8 link_7 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 link_9 link_8 0 0 -0.15 0 0 0 0 1 0 0.05 0.0 0.05 0.0 true 0 0 1 0.05 0.0 0.05 0.0 true 1 3.0 0 0 0 0 0 1 0.5 0 0 0 0 0 0 0.025 0 0 0 0 0 0 0.025 payload link_9 0 0 0.15 0 0 0 true 1.0 ft_sensor_topic/payload tether_mass_connection