0 0 0 0 -0 0 -0.1 0 0.07 0 -0 0 0 0.05 0 0 0.06 0 0.03 0 0 0 0 -0 0 1 1 1 /meshes/link_0.stl 0 0 0 0 -0 0 1 1 1 meshes/link_0.obj 1 0 0 1 0.2 0.2 0.2 1.0 0.4 0.4 0.4 1 0 0 0 0 0 0 0.1575 0 -0 0 0 -0.03 0.12 0 -0 0 4 0.1 0 0 0.09 0 0.02 0 0 0 0 -0 0 1 1 1 meshes/link_1.stl 0 0 0 0 -0 0 1 1 1 meshes/link_1.obj 1 0 0 1 0.5 0.7 1.0 1.0 0.5 0.5 0.5 1 0 0 0 0 lbr_iiwa_link_1 lbr_iiwa_link_0 0 0 1 -2.96706 2.96706 300 10 0.5 0 0 0 0 0 0.36 1.5708 -0 -3.14159 0.0003 0.059 0.042 0 -0 0 4 0.05 0 0 0.018 0 0.044 0 0 0 0 -0 0 1 1 1 meshes/link_2.stl 0 0 0 0 -0 0 1 1 1 meshes/link_2.obj 1 0 0 1 0.5 0.7 1.0 1.0 0.5 0.5 0.5 1 0 0 0 0 lbr_iiwa_link_2 lbr_iiwa_link_1 0 0 1 -2.0944 2.0944 300 10 0.5 0 0 0 0 -0 0.5645 0 0 0 0 0.03 0.13 0 -0 0 3 0.08 0 0 0.075 0 0.01 0 0 0 0 -0 0 1 1 1 meshes/link_3.stl 0 0 0 0 -0 0 1 1 1 meshes/link_3.obj 1 0 0 1 1.0 0.423529411765 0.0392156862745 1.0 0.5 0.5 0.5 1 0 0 0 0 lbr_iiwa_link_3 lbr_iiwa_link_2 0 0 1 -2.96706 2.96706 300 10 0.5 0 0 0 0 -0 0.78 1.5708 0 0 0 0.067 0.034 0 -0 0 2.7 0.03 0 0 0.01 0 0.029 0 0 0 0 -0 0 1 1 1 meshes/link_4.stl 0 0 0 0 -0 0 1 1 1 meshes/link_4.obj 1 0 0 1 0.5 0.7 1.0 1.0 0.5 0.5 0.5 1 0 0 0 0 lbr_iiwa_link_4 lbr_iiwa_link_3 0 0 1 -2.0944 2.0944 300 10 0.5 0 0 0 0 -0 0.9645 0 -0 -3.14159 0.0001 0.021 0.076 0 -0 0 1.7 0.02 0 0 0.018 0 0.005 0 0 0 0 -0 0 1 1 1 meshes/link_5.stl 0 0 0 0 -0 0 1 1 1 meshes/link_5.obj 1 0 0 1 0.5 0.7 1.0 1.0 0.5 0.5 0.5 1 0 0 0 0 lbr_iiwa_link_5 lbr_iiwa_link_4 0 0 1 -2.96706 2.96706 300 10 0.5 0 0 0 0 0 1.18 1.5708 -0 -3.14159 0 0.0006 0.0004 0 -0 0 1.8 0.005 0 0 0.0036 0 0.0047 0 0 0 0 -0 0 1 1 1 meshes/link_6.stl 0 0 0 0 -0 0 1 1 1 meshes/link_6.obj 1 0 0 1 1.0 0.423529411765 0.0392156862745 1.0 0.5 0.5 0.5 1 0 0 0 0 lbr_iiwa_link_6 lbr_iiwa_link_5 0 0 1 -2.0944 2.0944 300 10 0.5 0 0 0 0 0 1.261 0 0 0 0 0 0.02 0 -0 0 1.3 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 0 1 1 1 meshes/link_7.stl 0 0 0 0 -0 0 1 1 1 meshes/link_7.obj 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 lbr_iiwa_link_7 lbr_iiwa_link_6 0 0 1 -3.05433 3.05433 300 10 0.5 0 0 0 lbr_iiwa_link_7 base_link 0 0 1 0 0 1.305 0 -0 0 0 0 0 0 -0 0 0.2 1 0 0 1 0 1 0 0 0 0 0 0 0.05 0.05 0.1 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 0 0 0 0 0 0 0.05 0.05 0.1 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 base_link left_finger 0 1 0 -10.4 10.01 100 0 0 0 0 0 0 0.024 1.35 0 -0.05 0 0 0 0.04 0 0 0 0.2 0.1 0 0 0.1 0 0.1 0 0 0.04 0 0 0 0.01 0.01 0.08 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 0 0 0.04 0 0 0 0.01 0.01 0.08 left_finger left_finger_base 0.8 .1 -0.005 0.024 1.43 0 -0.3 0 -0.003 0 0.04 0 0 0 0.2 0.1 0 0 0.1 0 0.1 0 0 0 0 0 0 1 1 1 meshes/finger_base_left.stl 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 0 0 0 0 0 0 1 1 1 meshes/finger_base_left.stl left_finger_base left_finger_tip 0 1 0 -10.1 10.3 0 0 0 0 0 0 0.8 .1 -0.02 0.024 1.49 0 0.2 0 -0.005 0 0.026 0 0 0 0.2 0.1 0 0 0.1 0 0.1 0 0 0 0 0 0 1 1 1 meshes/finger_tip_left.stl 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 0 0 0 0 0 0 1 1 1 meshes/finger_tip_left.stl base_link right_finger 0 1 0 -10.01 10.4 100 0 0 0 0 0 0.8 .1 0 0.024 1.35 0 0.05 0 0 0 0.04 0 0 0 0.2 0.1 0 0 0.1 0 0.1 0 0 0.04 0 0 0 0.01 0.01 0.08 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 0 0 0.04 0 0 0 0.01 0.01 0.08 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 right_finger right_finger_base 0.8 .1 0.005 0.024 1.43 0 0.3 0 0.003 0 0.04 0 0 0 0.2 0.1 0 0 0.1 0 0.1 0 0 0 0 0 0 1 1 1 meshes/finger_base_right.stl 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 0 0 0 0 0 0 1 1 1 meshes/finger_base_right.stl right_finger_base right_finger_tip 0 1 0 -10.3 10.1 0 0 0 0 0 0 0.8 .1 0.02 0.024 1.49 0 -0.2 0 0.005 0 0.026 0 0 0 0.2 0.1 0 0 0.1 0 0.1 0 0 0 0 0 0 1 1 1 meshes/finger_tip_right.stl 1 0 0 1 0.6 0.6 0.6 1 0.5 0.5 0.5 1 0 0 0 0 0 0 0 0 0 0 1 1 1 meshes/finger_tip_right.stl