0 0 0.246 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 220.0 40 0.0 150 0.0 0.0 150 0 0 0.2 0 0 0 1.8 0.65 0.55 0 0 0 0 0 0 1.81 0.66 0.1 0.9 0.36 0 1 0.9 0.36 0 1 0 0 0 0 0 0 0 1 -0.5 0 0.2 0 0 0 0.8 0.65 0.55 1.0 0.4 0 1 1.0 0.4 0 1 0 0 0 0 0.2 0.08 0 1 0.2 -0.5 -0.1 0 0 0 0.25 0.1 1.0 0.4 0 1 1.0 0.4 0 1 0 0 0 0 0.2 0.08 0 1 0.23 0 -0.1 0 0 0 0.25 0.1 1.0 0.4 0 1 1.0 0.4 0 1 0 0 0 0 0.2 0.08 0 1 0.2 0.5 -0.1 0 0 0 0.25 0.1 1.0 0.4 0 1 1.0 0.4 0 1 0 0 0 0 0.2 0.08 0 1 0.85 0.38 -0.1 0 0 0 .1 0 0 1.0 1.0 0.85 0.38 -0.01 0 0 0 0.1 0.1 0.9 0.36 0 1 0.9 0.36 0 1 0 0 0 0 0 0 0 1 0.85 0.38 -0.1 0 0 0 .1 1.0 0.2 0.2 1 1.0 0.1 0.1 1 0 0 0 0 0 0 0 1 0.85 -0.38 -0.1 0 0 0 .1 0 0 1.0 1.0 0.85 -0.38 -0.01 0 0 0 0.1 0.1 0.9 0.36 0 1 0.9 0.36 0 1 0 0 0 0 0 0 0 1 0.85 -0.38 -0.1 0 0 0 .1 0.2 1.0 0.2 1 0.1 1.0 0.1 1 0 0 0 0 0 0 0 1 base_link 1 50 0 0.01 base_link 1 100 0.0001 0.0001 0.0001 base_link 1 30 base_link 1 250 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.004 0.006 300 0 0.004 0.006 300 0 0.004 0.006 300 -0.45 0.45 0.0215 0 1.57079632679 1.57079632679 8.0 0.5 0.0 0.5 0.0 0.0 1.0 0.22 0.22 1 0.4 0.6 0.005 1e8 0 0 0 1.57079632679 0 0 2.8 2.0 2.8 model://lawnmower/meshes/wheel_link.STL 0.17 0 0 0 0 0 .10 .01 .21 1.0 0.2 0.2 1 1.0 0.1 0.1 1 0 0 0 0 0 0 0 1 left_wheel_link base_link 0 0 1 -1e+16 1e+16 0 0 -0.45 -0.45 0.0215 0 1.57079632679 1.57079632679 8.0 0.5 0.0 0.5 0.0 0.0 1.0 0.22 0.22 1 0.4 0.6 0.005 1e8 0 0 0 1.57079632679 0 0 2.8 2.0 2.8 model://lawnmower/meshes/wheel_link.STL 0.17 0 0 0 0 0 .10 .01 .21 0.2 1.0 0.2 1 0.1 1.0 0.1 1 0 0 0 0 0 0 0 1 right_wheel_link base_link 0 0 1 -1e+16 1e+16 0 0 -0.9 0 0.5 0 0 0 0 0 0 1.57079632679 0 0 0.1 0.08 0.3 0.3 0.2 1 1.0 1.0 0.1 1 0 0 0 0 0 0 0 1 engine_visual_link base_link 1 0 0 -1e+16 1e+16 0 0 0.2 0 -0.1 0 0 0 0.8 0 0 0 0 0 .20 .01 .15 1.0 0 0 1 1.0 0 0 1 0 0 0 0 0 0 0 1 cutter_blades_link base_link 0 0 1 -1e+16 1e+16 0 0 -0.45 0 0.65 0 0 0 0 0 0 1.57079632679 0 0 0.07 0.7 0.7 0.0 1 0.7 0.7 0.0 1 0 0 0 0 0 0 0 1 0 0 0 1.57079632679 0 0 0.08 0.02 1.0 0 0 1 1.0 0 0 1 0 0 0 0 0 0 0 1 0 0 -0.1 0 0 0 .05 .05 .2 0.7 0.7 0.0 1 0.7 0.7 0.0 1 0 0 0 0 0 0 0 1 alarm_visual_link base_link 0 0 1 -1e+16 1e+16 0 0 right_wheel_joint command/motor_speed true 0 0 true 5.0 2.0 0 1.0 -1.0 1000.0 -1000.0 0.0 left_wheel_joint command/motor_speed true 1 0 true 5.0 2.0 0 1.0 -1.0 1000.0 -1000.0 0.0 cutter_blades_joint servo_0 engine_visual_joint servo_1 10.0 alarm_visual_joint servo_4 1.0 2000.0 1000.0 0.0 left_wheel_joint right_wheel_joint 0