0 0 0 0 -0 0 0 0 0.625017 0 -0 0 56.01 14.6261 -3.58342e-06 -5.7072e-09 14.6252 -1.43337e-06 12.001 0 0 0 1.57 1.82146e-17 3.14 1 1 1 model://robonaut/meshes/Stanchion_Baseplate.dae 0 0 0.4 0 -0 -1.57319 0.5 0.075 0 0 0 1.57 1.82146e-17 3.14 1 1 1 model://robonaut/meshes/Stanchion_Baseplate.dae 0 0 0.7 0 -0 -1.57319 1 1 1 model://robonaut/meshes/Stanchion.dae 0 0 0 0 0.72 -3.14159 0.00159265 -1.57478 2.27064e-05 0 -0.000270366 0 -0 0 20.13 2.00426 0 -0.000355745 2.00716 0 2.0042 0.02 0.05 -0.5625 -1.57 -5.55112e-17 -1.57 1 1 1 model://robonaut/meshes/Body.dae 0 0 -0.54 0 -0 0.25 1 1 1 model://robonaut/meshes/Backpack.dae 0.02 0.05 -0.5625 -1.57 -5.55112e-17 -1.57 1 1 1 model://robonaut/meshes/Body_Cover.dae 0.02 0.05 -0.5625 -1.57 -5.55112e-17 -1.57 1 1 1 model://robonaut/meshes/Body.dae 0 0 -0.54 0 -0 0.25 1 1 1 model://robonaut/meshes/Backpack.dae 0.02 0.05 -0.5625 -1.57 -5.55112e-17 -1.57 1 1 1 model://robonaut/meshes/Body_Cover.dae 1 0 0 0 /r2/waist_center /r2/robot_world 6.34134e-06 0.00159264 -0.999999 -3.14 3.14 1e+07 1000 10 0 0.2 0.000256716 0.0644746 1.26435 1.5756 -0.00153855 1.30542 -0.0089916 -0.00131572 0.10287 0 -0 0 6.16886 0.0198585 -0.0060196 -0.000395063 0.0671901 0.00012683 0.063415 0 0 0.08 0 -0 1.57 1 1 1 model://robonaut/meshes/Left_Shoulder_Upper.dae 0 0 0.08 0 -0 1.57 1 1 1 model://robonaut/meshes/Left_Shoulder_Upper.dae 1 0 0 0 /r2/left_shoulder_roll /r2/waist_center 0.964985 -0.262261 -0.00480789 -1.57 1.57 100 1000 10 0 0.2 0.305782 -0.01856 1.26283 1.88114 -1.56575 -0.575018 0.037084 -0.00028448 0.0077978 0 -0 0 4.42706 0.0270106 0.00151295 -5.23825e-05 0.0113837 2.17139e-05 0.0251963 0 0 0 0 0 -1.57 1 1 1 model://robonaut/meshes/Left_Shoulder_Lower.dae 0 0 0 0 0 -1.57 1 1 1 model://robonaut/meshes/Left_Shoulder_Lower.dae 1 0 0 0 /r2/left_shoulder_pitch /r2/left_shoulder_roll -0.261598 -0.965176 -0.00154157 -1.66 0.175 100 1000 10 0 0.2 0.305782 -0.01856 1.26283 -2.83205 -1.56575 -0.575018 -0.0074168 -0.041402 0.1016 0 -0 0 4.85344 0.0160074 -0.00339462 0.00658439 0.0462371 0.00137541 0.0421401 0 0 0.1016 0 -0 3.14 1 1 1 model://robonaut/meshes/Left_Upper_Arm.dae 0 0 0.1016 0 -0 3.14 1 1 1 model://robonaut/meshes/Left_Upper_Arm.dae 1 0 0 0 /r2/left_upper_arm /r2/left_shoulder_pitch 0.964959 -0.262357 -0.00480804 -4.89 -0.79 100 1000 10 0 0.2 0.649499 -0.111925 1.20674 1.87634 -1.56575 -0.575018 0.026162 0.033782 0.0154432 0 -0 0 2.97103 0.0120275 0.00164171 -0.00118812 0.00883772 0.00316051 0.010535 0 0 0 0 0 -1.57 1 1 1 model://robonaut/meshes/Left_Elbow.dae 0 0 0 0 0 -1.57 1 1 1 model://robonaut/meshes/Left_Elbow.dae 1 0 0 0 /r2/left_elbow /r2/left_upper_arm -0.266228 -0.963909 -0.00151848 -2.79 -0.087 100 1000 1 0 0.2 0.649728 -0.112073 1.26077 -2.83305 -1.56575 -0.575018 0.0003556 -0.00122682 0.17653 0 -0 0 6.93996 0.012525 -0.000244647 0.000520899 0.0395064 -0.000169146 0.0403843 0 0 0.1 0 -0 0 1 1 1 model://robonaut/meshes/Left_Forearm.dae 0 0 0.1 0 -0 0 1 1 1 model://robonaut/meshes/Left_Forearm.dae 1 0 0 0 /r2/left_lower_arm /r2/left_elbow 0.964696 -0.263322 -0.00480958 -1.3 4.45 100 1000 1 0 0.2 0.994171 -0.206092 1.25906 1.85494 -1.56575 -0.575018 -0.004064 1.52908e-07 -0.00092202 0 -0 0 0.116573 5.765e-05 4.36e-11 1.75876e-06 1.69438e-05 5.4431e-08 4.41886e-05 1 0 0 0 /r2/left_wrist_pitch /r2/left_lower_arm -0.286793 -0.957991 -0.00141512 -1.22 1.22 100 1000 1 0 0.2 0.999988 -0.207833 1.25901 -3.06047 0.00674924 -0.290868 0.0332051 -0.0258121 0.0332857 0 -0 0 2.37882 0.0112391 0.000520047 0.00298821 0.0135826 0.000437366 0.0112115 0 0 0 3.14 -1.0842e-19 1.556 1 1 1 model://robonaut/meshes/Left_Palm.dae 0 0 0 3.14 -1.0842e-19 1.556 1 1 1 model://robonaut/meshes/Left_Palm.dae 0 0 0 0 0 0 1 0 0 0 /r2/left_wrist_yaw /r2/left_wrist_pitch 0.0167937 0.0795554 -0.996689 -0.785 0.785 100 1000 1 0 0.2 1.08724 -0.263526 1.27225 -3.0619 0.0165744 -0.412654 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 /r2/left_index_yaw /r2/left_wrist_yaw 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/r2/left_index_distal /r2/left_index_medial 0.400978 0.912623 0.0796012 0 1.57 1e+07 1000 0.1 1.10098 -0.242075 1.27419 -3.06047 0.00674924 -0.290868 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 /r2/left_middle_yaw /r2/left_wrist_yaw 0.0167937 0.0795554 -0.996689 -0.3491 0.3491 1e+07 1000 0.1 1.11023 -0.244843 1.27413 -1.48968 0.00674924 -0.290868 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 1 0 0 0 /r2/left_middle_proximal /r2/left_middle_yaw 0.286365 0.954688 0.0810277 0 1.57 1e+07 1000 0.1 1.15281 -0.25759 1.27383 -1.48968 0.00674924 -0.290868 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 1 0 0 0 /r2/left_middle_medial /r2/left_middle_proximal 0.286365 0.954688 0.0810277 0 1.57 1e+07 1000 0.1 1.18201 -0.266331 1.27362 -1.48968 0.00674924 -0.290868 0.012319 0 0 0 -0 0 0.002 0.002 0 0 0.0020003 0 0.0020003 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 1 0 0 0 /r2/left_middle_distal /r2/left_middle_medial 0.286365 0.954688 0.0810277 0 1.57 1e+07 1000 0.1 1.10211 -0.196907 1.26772 -1.45457 0.0795559 -0.109831 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 1 0 0 0 /r2/left_little_proximal /r2/left_wrist_yaw 0.118031 0.986259 0.115594 0 2.9671 1e+07 1000 0.1 1.14615 -0.201764 1.26418 -1.45457 0.0795559 -0.109831 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 1 0 0 0 /r2/left_little_medial /r2/left_little_proximal 0.118031 0.986259 0.115594 0 2.9671 1e+07 1000 0.1 1.17635 -0.205094 1.26176 -1.45457 0.0795559 -0.109831 0.012319 0 0 0 -0 0 0.002 0.002 0 0 0.0020003 0 0.0020003 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 1 0 0 0 /r2/left_little_distal /r2/left_little_medial 0.118031 0.986259 0.115594 0 2.9671 1e+07 1000 0.1 1.10934 -0.221045 1.27216 -1.48946 -0.00317593 -0.169099 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 1 0 0 0 /r2/left_ring_proximal /r2/left_wrist_yaw 0.167483 0.982521 0.0812466 0 2.9671 1e+07 1000 0.1 1.15316 -0.228525 1.2723 -1.48946 -0.00317593 -0.169099 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 1 0 0 0 /r2/left_ring_medial /r2/left_ring_proximal 0.167483 0.982521 0.0812466 0 2.9671 1e+07 1000 0.1 1.1832 -0.233655 1.2724 -1.48946 -0.00317593 -0.169099 0.012319 0 0 0 -0 0 0.002 0.002 0 0 0.0020003 0 0.0020003 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 1 0 0 0 /r2/left_ring_distal /r2/left_ring_medial 0.167483 0.982521 0.0812466 0 2.9671 1e+07 1000 0.1 1.023 -0.245896 1.24999 1.5853 0.0800995 -1.59956 0.000234078 0 0 0 -0 0 0.051 0.002 0 0 0.00200014 -5.16988e-26 0.00200014 0.001938 0 0 -3.1408 0 0 1 1 1 model://robonaut/meshes/Left_Thumb_Carp.dae 0.001938 0 0 -3.1408 0 0 1 1 1 model://robonaut/meshes/Left_Thumb_Carp.dae 1 0 0 0 /r2/left_thumb_base /r2/left_wrist_yaw -0.999448 0.0299147 -0.0144524 -1.2217 0 1e+07 1000 0.1 1.02266 -0.257791 1.24904 0.0144997 0.0800995 -1.59956 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 -1.57 -1.57 1.39418e-13 1 1 1 model://robonaut/meshes/Left_Thumb_MtCar.dae -0 0 0 -1.57 -1.57 1.39418e-13 1 1 1 model://robonaut/meshes/Left_Thumb_MtCar.dae 1 0 0 0 /r2/left_thumb_medial_prime /r2/left_thumb_base -0.016794 -0.0795554 0.996689 0 1.3963 1e+07 1000 0.1 1.01983 -0.288559 1.24908 -0.683633 0.0800995 -1.59956 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Thumb_Proximal.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Thumb_Proximal.dae 1 0 0 0 /r2/left_thumb_medial /r2/left_thumb_medial_prime 0.629568 -0.0801718 0.772798 0 1.2217 1e+07 1000 0.1 1.0187 -0.327786 1.24593 -0.683633 0.0800995 -1.59956 0.01651 0 0 0 -0 0 0.002 0.002 0 0 0.00200055 0 0.00200055 0 0 0 -0.00159265 0.00159265 3.14159 1 1 1 model://robonaut/meshes/Thumb_Dist.dae 0 0 0 -0.00159265 0.00159265 3.14159 1 1 1 model://robonaut/meshes/Thumb_Dist.dae 1 0 0 0 /r2/left_thumb_distal /r2/left_thumb_medial 0.629568 -0.0801718 0.772798 -0.5236 1.57 1e+07 1000 0.1 0.000256716 0.0644746 1.26435 1.5824 0.00153848 -1.31321 0.0089916 -0.00131572 0.10287 0 -0 0 6.16886 0.0198585 0.0060196 0.000395063 0.0671901 0.00012683 0.063415 0 0 0.0254 0 -0 2.35 1 1 1 model://robonaut/meshes/Right_Shoulder_Upper.dae 0 0 0.0254 0 -0 2.25 1 1 1 model://robonaut/meshes/Right_Shoulder_Upper.dae 1 0 0 0 /r2/right_shoulder_roll /r2/waist_center -0.966946 -0.254715 -0.0116079 -1.57 1.57 100 1000 10 0 0.2 -0.310064 -0.0172708 1.26062 -1.44615 1.55909 0.389321 0.0077978 0.037084 0.00028448 0 -0 0 4.42706 0.0113837 -2.17139e-05 -0.00151295 0.0251963 -5.23825e-05 0.0270106 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Right_Shoulder_Lower.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Right_Shoulder_Lower.dae 1 0 0 0 /r2/right_shoulder_pitch /r2/right_shoulder_roll -0.261605 0.965174 0.00145574 -1.66 0.175 100 1000 10 0 0.2 -0.310064 -0.0172708 1.26062 -3.01405 1.55909 0.389321 0.041402 -0.0074168 0.1016 0 -0 0 4.85344 0.0421401 -0.00137541 -0.00658439 0.0462371 -0.00339462 0.0160074 0 0 0.1016 0 -0 0 1 1 1 model://robonaut/meshes/Right_Upper_Arm.dae 0 0 0.1016 0 -0 0 1 1 1 model://robonaut/meshes/Right_Upper_Arm.dae 1 0 0 0 /r2/right_upper_arm /r2/right_shoulder_pitch -0.965868 -0.258774 -0.0116143 0.785 4.89 100 1000 10 0 0.2 -0.652578 -0.108954 1.2029 -1.44565 1.55909 0.389321 -0.026162 0.033782 0.0154432 0 -0 0 2.97103 0.0120275 -0.00118812 0.00164171 0.00883772 -0.00316051 0.010535 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Right_Elbow.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Right_Elbow.dae 1 0 0 0 /r2/right_elbow /r2/right_upper_arm -0.261122 0.965305 0.00146155 -2.79 -0.087 100 1000 1 0 0.2 -0.653161 -0.109193 1.25664 -3.01125 1.55909 0.389321 0.0003556 -0.00122682 0.17653 0 -0 0 6.93996 0.012525 0.000244647 0.000520899 0.0395064 0.000169146 0.0403843 0 0 0.1 0 -0 0 1 1 1 model://robonaut/meshes/Right_Forearm.dae 0 0 0.1 0 -0 0 1 1 1 model://robonaut/meshes/Right_Forearm.dae 1 0 0 0 /r2/right_lower_arm /r2/right_elbow -0.966589 -0.256069 -0.0116101 -4.45 1.31 100 1000 1 0 0.2 -0.998181 -0.200596 1.25249 -1.47835 1.55909 0.389321 0.00092202 -0.004064 1.52908e-07 0 -0 0 0.116573 1.69438e-05 5.4431e-08 -4.36033e-11 4.41886e-05 -1.75876e-06 5.765e-05 1 0 0 0 /r2/right_wrist_pitch /r2/right_lower_arm -0.29254 0.956253 0.00108093 -1.22 1.22 100 1000 1 0 0.2 -1.00439 -0.202495 1.25256 3.13092 -0.00984402 -2.8447 0.0637396 -0.000207173 0.0218989 0 -0 0 1.33941 0.00516672 -5.80194e-05 -0.000187327 0.00807358 0.000316215 0.00654117 0 0 0 3.14 -0 1.5999 1 1 1 model://robonaut/meshes/Right_Palm.dae 0 0 0 3.14 -0 1.5999 1 1 1 model://robonaut/meshes/Right_Palm.dae 0 0 0 0 0 0 1 0 0 0 /r2/right_wrist_yaw /r2/right_wrist_pitch -0.0125363 0.00733032 -0.999895 -0.785 0.785 100 1000 1 0 0.2 -1.09137 -0.257636 1.2694 3.1298 -0.00846944 -2.72253 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 /r2/right_index_yaw /r2/right_wrist_yaw -0.0125363 0.00733032 -0.999895 -0.3491 0.3491 1e+07 1000 0.1 -1.10018 -0.261563 1.26948 -1.58259 -0.00846944 -2.72253 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 1 0 0 0 /r2/right_index_proximal /r2/right_index_yaw 0.406785 -0.913448 -0.011797 0 1.57 1e+07 1000 0.1 -1.14079 -0.279649 1.26986 -1.58259 -0.00846944 -2.72253 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 1 0 0 0 /r2/right_index_medial /r2/right_index_proximal 0.406785 -0.913448 -0.011797 0 1.57 1e+07 1000 0.1 -1.16863 -0.292051 1.27012 -1.58259 -0.00846944 -2.72253 0.012319 0 0 0 -0 0 0.1 0.002 0 0 0.00201518 0 0.00201518 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 1 0 0 0 /r2/right_index_distal /r2/right_index_medial 0.406785 -0.913448 -0.011797 0 1.57 1e+07 1000 0.1 -1.10525 -0.236187 1.26973 3.13092 -0.00984402 -2.8447 0 0 0 0 -0 0 0.001 0.001 0 0 0.001 0 0.001 0 0 /r2/right_middle_yaw /r2/right_wrist_yaw -0.0125363 0.00733032 -0.999895 -0.3491 0.3491 1e+07 1000 0.1 -1.11448 -0.239011 1.26983 -1.58147 -0.00984402 -2.8447 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.57 0.9 0.9 0.9 model://robonaut/meshes/Finger_Proximal.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 1 0 0 0 /r2/right_middle_proximal /r2/right_middle_yaw 0.292433 -0.956226 -0.0106769 0 1.57 1e+07 1000 0.1 -1.15698 -0.252014 1.27026 -1.58147 -0.00984402 -2.8447 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 0.9 0.9 0.9 model://robonaut/meshes/Finger_Mid.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 1 0 0 0 /r2/right_middle_medial /r2/right_middle_proximal 0.292433 -0.956226 -0.0106769 0 1.57 1e+07 1000 0.1 -1.18612 -0.260931 1.27056 -1.58147 -0.00984402 -2.8447 0.012319 0 0 0 -0 0 0.1 0.002 0 0 0.00201518 0 0.00201518 0 0 0 0 -1.57 0 0.9 0.9 0.9 model://robonaut/meshes/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 1 0 0 0 /r2/right_middle_distal /r2/right_middle_medial 0.292433 -0.956226 -0.0106769 0 1.57 1e+07 1000 0.1 -1.10661 -0.191612 1.26001 -1.61453 0.0757148 -3.02 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.57 0.9 0.9 0.9 model://robonaut/meshes/Finger_Proximal.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 1 0 0 0 /r2/right_little_proximal /r2/right_wrist_yaw 0.124457 -0.991267 -0.0435981 0 2.9671 1e+07 1000 0.1 -1.15061 -0.196988 1.25665 -1.61453 0.0757148 -3.02 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 0.9 0.9 0.9 model://robonaut/meshes/Finger_Mid.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 1 0 0 0 /r2/right_little_medial /r2/right_little_proximal 0.124457 -0.991267 -0.0435981 0 2.9671 1e+07 1000 0.1 -1.18078 -0.200675 1.25434 -1.61453 0.0757148 -3.02 0.012319 0 0 0 -0 0 0.1 0.002 0 0 0.00201518 0 0.00201518 0 0 0 0 -1.57 0 0.9 0.9 0.9 model://robonaut/meshes/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 1 0 0 0 /r2/right_little_distal /r2/right_little_medial 0.124457 -0.991267 -0.0435981 0 2.9671 1e+07 1000 0.1 -1.11373 -0.215386 1.26615 -1.58019 -0.0110719 -2.96687 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.57 0.9 0.9 0.9 model://robonaut/meshes/Finger_Proximal.dae 0 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Finger_Proximal.dae 1 0 0 0 /r2/right_ring_proximal /r2/right_wrist_yaw 0.173722 -0.98475 -0.00939735 0 2.9671 1e+07 1000 0.1 -1.1575 -0.223112 1.26665 -1.58019 -0.0110719 -2.96687 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 0.9 0.9 0.9 model://robonaut/meshes/Finger_Mid.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Finger_Mid.dae 1 0 0 0 /r2/right_ring_medial /r2/right_ring_proximal 0.173722 -0.98475 -0.00939735 0 2.9671 1e+07 1000 0.1 -1.18751 -0.22841 1.26698 -1.58019 -0.0110719 -2.96687 0.012319 0 0 0 -0 0 0.1 0.002 0 0 0.00201518 0 0.00201518 0 0 0 0 -1.57 0 0.9 0.9 0.9 model://robonaut/meshes/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://robonaut/meshes/Finger_Dist.dae 1 0 0 0 /r2/right_ring_distal /r2/right_ring_medial 0.173722 -0.98475 -0.00939735 0 2.9671 1e+07 1000 0.1 -1.02713 -0.241254 1.24621 -1.58324 -0.166754 -1.53364 0.005969 0 0 0 -0 0 0.1 0.002 0 0 0.00200356 -5.16988e-26 0.00200356 0.001938 0 0 -3.1408 0 0 0.9 0.9 0.9 model://robonaut/meshes/Left_Thumb_Carp.dae 0.001938 0 0 -3.1408 0 0 1 1 1 model://robonaut/meshes/Left_Thumb_Carp.dae 1 0 0 0 /r2/right_thumb_base /r2/right_wrist_yaw 0.999309 0.0350788 -0.0122717 0 1.2217 1e+07 1000 0.1 -1.02669 -0.253018 1.24819 3.12915 -0.166754 -1.53364 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 -0 0 0 -1.57 -1.57 1.39418e-13 0.9 0.9 0.9 model://robonaut/meshes/Right_Thumb_MtCar.dae -0 0 0 -1.57 -1.57 1.39418e-13 1 1 1 model://robonaut/meshes/Right_Thumb_MtCar.dae 1 0 0 0 /r2/right_thumb_medial_prime /r2/right_thumb_base -0.00627036 -0.166318 -0.986052 0 1.3963 1e+07 1000 0.1 -1.02365 -0.282816 1.25577 -2.4559 -0.166754 -1.53364 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Thumb_Proximal.dae 0 0 0 3.14 4.33681e-19 1.57 1 1 1 model://robonaut/meshes/Thumb_Proximal.dae 1 0 0 0 /r2/right_thumb_medial /r2/right_thumb_medial_prime 0.637541 -0.104858 -0.763247 0 1.2217 1e+07 1000 0.1 -1.0222 -0.321613 1.26231 -2.4559 -0.166754 -1.53364 0.01651 0 0 0 -0 0 0.1 0.002 0 0 0.00202726 0 0.00202726 0 0 0 -0.00159265 0.00159265 3.14159 1 1 1 model://robonaut/meshes/Thumb_Dist.dae 0 0 0 -0.00159265 0.00159265 3.14159 1 1 1 model://robonaut/meshes/Thumb_Dist.dae 1 0 0 0 /r2/right_thumb_distal /r2/right_thumb_medial 0.637541 -0.104858 -0.763247 -0.5236 1.57 1e+07 1000 0.1 -0.000347748 -0.0873374 1.33408 1.5708 0.00159265 -1.57478 0 0 0 0 -0 0 0.1 0.001 0 0 0.001 0 0.001 0 0 0 -1.57 1.57 -1.39418e-13 1 1 1 model://robonaut/meshes/Neck_Lower.dae 0 0 0 -1.57 1.57 -1.39418e-13 1 1 1 model://robonaut/meshes/Neck_Lower.dae 1 0 0 0 /r2/neck_base /r2/waist_center -0.999992 0.00398162 -3.26794e-07 -0.7 0.175 10000 1000 10 0 0.2 -4.43482e-05 -0.0111381 1.33421 6.5359e-07 0.00159265 -1.57478 0 0 0 0 -0 0 0.1 0.001 0 0 0.001 0 0.001 0.075 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Neck_Upper.dae 0.075 0 0 0 -0 1.57 1 1 1 model://robonaut/meshes/Neck_Upper.dae 1 0 0 0 /r2/neck_lower_pitch /r2/neck_base -6.99493e-06 -0.00159264 0.999999 -1.22 1.22 10000 1000 10 0 0.2 -0.000247858 -0.0622208 1.51189 1.5708 0.00159265 -1.57478 0.0814987 0.101613 -0.0110254 0 -0 0 1.13 0.0270085 -0.00227738 0.000477847 0.0262663 0.000477211 0.0277254 -0 0.07 0 0 1.57 0 1 1 1 model://robonaut/meshes/Head.dae -0 0.07 0 0 1.57 0 1 1 1 model://robonaut/meshes/Head.dae 0 0 0 0 1 L8 640 480 0.9948 0.01 5 0.12 0.14 -0.015 1.5708 -0 0 0 0 1 R8G8B8 640 480 0.9948 0.01 5 0.12 0.14 -0.045 -1.57239 -0 0 0 0 10 1600 1200 R8G8B8 1.5707 0.1 50 0.0844871 0.107466 -0.0488915 -1.57159 0.00238898 -1.90319e-06 1 0 0 0 10 1600 1200 R8G8B8 1.5707 0.1 50 0.0846428 0.107544 0.0488483 -1.57159 0.00238898 -1.90319e-06 /r2/neck_roll /r2/neck_lower_pitch -0.999992 0.00398162 -3.26794e-07 -0.7 0.175 10000 1000 10 0 0.2 0