world
world_to_camera
xyz: 0 0 1
rpy: 3.14159 1.57059 3.14159
world_to_table
xyz: 0 0 0.5
rpy: 0 -0 0
camera_frame table
table_to_arm
xyz: 0 0 0
rpy: 0 -0 0
base_link
base_link-base_fixed_joint
xyz: 0 0 0
rpy: 0 0 -3.14159
shoulder_pan_joint
xyz: 0 0 0.089159
rpy: 0 -0 0
base shoulder_link
shoulder_lift_joint
xyz: 0 0.13585 0
rpy: 0 1.5708 0
upper_arm_link
elbow_joint
xyz: 0 -0.1197 0.425
rpy: 0 -0 0
forearm_link
wrist_1_joint
xyz: 0 0 0.39225
rpy: 0 1.5708 0
wrist_1_link
wrist_2_joint
xyz: 0 0.093 0
rpy: 0 -0 0
wrist_2_link
wrist_3_joint
xyz: 0 0 0.09465
rpy: 0 -0 0
wrist_3_link
ee_fixed_joint
xyz: 0 0.0823 0
rpy: 0 -0 1.5708
wrist_3_link-tool0_fixed_joint
xyz: 0 0.0823 0
rpy: -1.5708 0 0
ee_link tool0
