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SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /my_gen3/gazebo_ros_control/pid_gains/finger_joint/d: 0.01
 * /my_gen3/gazebo_ros_control/pid_gains/finger_joint/i: 0.0
 * /my_gen3/gazebo_ros_control/pid_gains/finger_joint/p: 10.0
 * /my_gen3/gazebo_ros_control/pid_gains/left_inner_finger_joint/d: 0.001
 * /my_gen3/gazebo_ros_control/pid_gains/left_inner_finger_joint/i: 0.0
 * /my_gen3/gazebo_ros_control/pid_gains/left_inner_finger_joint/p: 0.5
 * /my_gen3/gazebo_ros_control/pid_gains/left_inner_knuckle_joint/d: 0.01
 * /my_gen3/gazebo_ros_control/pid_gains/left_inner_knuckle_joint/i: 0.0
 * /my_gen3/gazebo_ros_control/pid_gains/left_inner_knuckle_joint/p: 10.0
 * /my_gen3/gazebo_ros_control/pid_gains/right_inner_finger_joint/d: 0.001
 * /my_gen3/gazebo_ros_control/pid_gains/right_inner_finger_joint/i: 0.0
 * /my_gen3/gazebo_ros_control/pid_gains/right_inner_finger_joint/p: 0.5
 * /my_gen3/gazebo_ros_control/pid_gains/right_inner_knuckle_joint/d: 0.01
 * /my_gen3/gazebo_ros_control/pid_gains/right_inner_knuckle_joint/i: 0.0
 * /my_gen3/gazebo_ros_control/pid_gains/right_inner_knuckle_joint/p: 10.0
 * /my_gen3/gazebo_ros_control/pid_gains/right_outer_knuckle_joint/d: 0.0
 * /my_gen3/gazebo_ros_control/pid_gains/right_outer_knuckle_joint/i: 0.0
 * /my_gen3/gazebo_ros_control/pid_gains/right_outer_knuckle_joint/p: 10.0
 * /my_gen3/gen3_joint_trajectory_controller/action_monitor_rate: 25
 * /my_gen3/gen3_joint_trajectory_controller/constraints/goal_time: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.5
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/d: 2.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/i_clamp_max: 100.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/i_clamp_min: -100.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/p: 3000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/i_clamp_max: 5.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/i_clamp_min: -5.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/p: 50000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/p: 3000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/p: 50000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/d: 0.2
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/p: 750.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/d: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/p: 5000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/i_clamp_max: 0.1
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/i_clamp_min: -0.1
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/p: 100.0
 * /my_gen3/gen3_joint_trajectory_controller/joints: ['joint_1', 'join...
 * /my_gen3/gen3_joint_trajectory_controller/state_publish_rate: 25
 * /my_gen3/gen3_joint_trajectory_controller/stop_trajectory_duration: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/type: effort_controller...
 * /my_gen3/joint_1_position_controller/joint: joint_1
 * /my_gen3/joint_1_position_controller/pid/d: 2.0
 * /my_gen3/joint_1_position_controller/pid/i: 0.0
 * /my_gen3/joint_1_position_controller/pid/p: 3000.0
 * /my_gen3/joint_1_position_controller/type: effort_controller...
 * /my_gen3/joint_2_position_controller/joint: joint_2
 * /my_gen3/joint_2_position_controller/pid/d: 0.0
 * /my_gen3/joint_2_position_controller/pid/i: 0.0
 * /my_gen3/joint_2_position_controller/pid/p: 50000.0
 * /my_gen3/joint_2_position_controller/type: effort_controller...
 * /my_gen3/joint_3_position_controller/joint: joint_3
 * /my_gen3/joint_3_position_controller/pid/d: 0.0
 * /my_gen3/joint_3_position_controller/pid/i: 0.0
 * /my_gen3/joint_3_position_controller/pid/p: 3000.0
 * /my_gen3/joint_3_position_controller/type: effort_controller...
 * /my_gen3/joint_4_position_controller/joint: joint_4
 * /my_gen3/joint_4_position_controller/pid/d: 0.0
 * /my_gen3/joint_4_position_controller/pid/i: 0.0
 * /my_gen3/joint_4_position_controller/pid/p: 50000.0
 * /my_gen3/joint_4_position_controller/type: effort_controller...
 * /my_gen3/joint_5_position_controller/joint: joint_5
 * /my_gen3/joint_5_position_controller/pid/d: 0.2
 * /my_gen3/joint_5_position_controller/pid/i: 0.0
 * /my_gen3/joint_5_position_controller/pid/p: 750.0
 * /my_gen3/joint_5_position_controller/type: effort_controller...
 * /my_gen3/joint_6_position_controller/joint: joint_6
 * /my_gen3/joint_6_position_controller/pid/d: 1.0
 * /my_gen3/joint_6_position_controller/pid/i: 0.0
 * /my_gen3/joint_6_position_controller/pid/p: 5000.0
 * /my_gen3/joint_6_position_controller/type: effort_controller...
 * /my_gen3/joint_7_position_controller/joint: joint_7
 * /my_gen3/joint_7_position_controller/pid/d: 0.0
 * /my_gen3/joint_7_position_controller/pid/i: 0.0
 * /my_gen3/joint_7_position_controller/pid/p: 100.0
 * /my_gen3/joint_7_position_controller/type: effort_controller...
 * /my_gen3/joint_state_controller/publish_rate: 50
 * /my_gen3/joint_state_controller/type: joint_state_contr...
 * /my_gen3/move_group/allow_trajectory_execution: True
 * /my_gen3/move_group/arm/default_planner_config: RRTConnect
 * /my_gen3/move_group/arm/longest_valid_segment_fraction: 0.005
 * /my_gen3/move_group/arm/planner_configs: ['SBL', 'EST', 'L...
 * /my_gen3/move_group/arm/projection_evaluator: joints(joint_1,jo...
 * /my_gen3/move_group/capabilities: 
 * /my_gen3/move_group/controller_list: [{'default': True...
 * /my_gen3/move_group/disable_capabilities: 
 * /my_gen3/move_group/gripper/default_planner_config: RRTConnect
 * /my_gen3/move_group/gripper/planner_configs: ['SBL', 'EST', 'L...
 * /my_gen3/move_group/jiggle_fraction: 0.05
 * /my_gen3/move_group/joint_state_controller/publish_rate: 50
 * /my_gen3/move_group/joint_state_controller/type: joint_state_contr...
 * /my_gen3/move_group/max_safe_path_cost: 1
 * /my_gen3/move_group/moveit_controller_manager: moveit_simple_con...
 * /my_gen3/move_group/moveit_manage_controllers: True
 * /my_gen3/move_group/planner_configs/BFMT/balanced: 0
 * /my_gen3/move_group/planner_configs/BFMT/cache_cc: 1
 * /my_gen3/move_group/planner_configs/BFMT/extended_fmt: 1
 * /my_gen3/move_group/planner_configs/BFMT/heuristics: 1
 * /my_gen3/move_group/planner_configs/BFMT/nearest_k: 1
 * /my_gen3/move_group/planner_configs/BFMT/num_samples: 1000
 * /my_gen3/move_group/planner_configs/BFMT/optimality: 1
 * /my_gen3/move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /my_gen3/move_group/planner_configs/BFMT/type: geometric::BFMT
 * /my_gen3/move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /my_gen3/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /my_gen3/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /my_gen3/move_group/planner_configs/BKPIECE/range: 0.0
 * /my_gen3/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /my_gen3/move_group/planner_configs/BiEST/range: 0.0
 * /my_gen3/move_group/planner_configs/BiEST/type: geometric::BiEST
 * /my_gen3/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /my_gen3/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /my_gen3/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /my_gen3/move_group/planner_configs/BiTRRT/init_temperature: 100
 * /my_gen3/move_group/planner_configs/BiTRRT/range: 0.0
 * /my_gen3/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /my_gen3/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /my_gen3/move_group/planner_configs/EST/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/EST/range: 0.0
 * /my_gen3/move_group/planner_configs/EST/type: geometric::EST
 * /my_gen3/move_group/planner_configs/FMT/cache_cc: 1
 * /my_gen3/move_group/planner_configs/FMT/extended_fmt: 1
 * /my_gen3/move_group/planner_configs/FMT/heuristics: 0
 * /my_gen3/move_group/planner_configs/FMT/nearest_k: 1
 * /my_gen3/move_group/planner_configs/FMT/num_samples: 1000
 * /my_gen3/move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /my_gen3/move_group/planner_configs/FMT/type: geometric::FMT
 * /my_gen3/move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /my_gen3/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /my_gen3/move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /my_gen3/move_group/planner_configs/KPIECE/range: 0.0
 * /my_gen3/move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /my_gen3/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /my_gen3/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /my_gen3/move_group/planner_configs/LBKPIECE/range: 0.0
 * /my_gen3/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /my_gen3/move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /my_gen3/move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/LBTRRT/range: 0.0
 * /my_gen3/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /my_gen3/move_group/planner_configs/LazyPRM/range: 0.0
 * /my_gen3/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /my_gen3/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /my_gen3/move_group/planner_configs/PDST/type: geometric::PDST
 * /my_gen3/move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /my_gen3/move_group/planner_configs/PRM/type: geometric::PRM
 * /my_gen3/move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /my_gen3/move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/ProjEST/range: 0.0
 * /my_gen3/move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /my_gen3/move_group/planner_configs/RRT/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/RRT/range: 0.0
 * /my_gen3/move_group/planner_configs/RRT/type: geometric::RRT
 * /my_gen3/move_group/planner_configs/RRTConnect/range: 0.0
 * /my_gen3/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /my_gen3/move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /my_gen3/move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/RRTstar/range: 0.0
 * /my_gen3/move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /my_gen3/move_group/planner_configs/SBL/range: 0.0
 * /my_gen3/move_group/planner_configs/SBL/type: geometric::SBL
 * /my_gen3/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /my_gen3/move_group/planner_configs/SPARS/max_failures: 1000
 * /my_gen3/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /my_gen3/move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /my_gen3/move_group/planner_configs/SPARS/type: geometric::SPARS
 * /my_gen3/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /my_gen3/move_group/planner_configs/SPARStwo/max_failures: 5000
 * /my_gen3/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /my_gen3/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /my_gen3/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /my_gen3/move_group/planner_configs/STRIDE/degree: 16
 * /my_gen3/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /my_gen3/move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/STRIDE/max_degree: 18
 * /my_gen3/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /my_gen3/move_group/planner_configs/STRIDE/min_degree: 12
 * /my_gen3/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /my_gen3/move_group/planner_configs/STRIDE/range: 0.0
 * /my_gen3/move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /my_gen3/move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /my_gen3/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /my_gen3/move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /my_gen3/move_group/planner_configs/TRRT/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /my_gen3/move_group/planner_configs/TRRT/k_constant: 0.0
 * /my_gen3/move_group/planner_configs/TRRT/max_states_failed: 10
 * /my_gen3/move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /my_gen3/move_group/planner_configs/TRRT/range: 0.0
 * /my_gen3/move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /my_gen3/move_group/planner_configs/TRRT/type: geometric::TRRT
 * /my_gen3/move_group/planning_plugin: ompl_interface/OM...
 * /my_gen3/move_group/planning_scene_monitor/publish_geometry_updates: True
 * /my_gen3/move_group/planning_scene_monitor/publish_planning_scene: True
 * /my_gen3/move_group/planning_scene_monitor/publish_state_updates: True
 * /my_gen3/move_group/planning_scene_monitor/publish_transforms_updates: True
 * /my_gen3/move_group/request_adapters: industrial_trajec...
 * /my_gen3/move_group/sample_duration: 0.001
 * /my_gen3/move_group/start_state_max_bounds_error: 0.1
 * /my_gen3/move_group/trajectory_execution/allowed_execution_duration_scaling: 2.0
 * /my_gen3/move_group/trajectory_execution/allowed_goal_duration_margin: 2.0
 * /my_gen3/move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /my_gen3/paramtest_gazebo_initialization/param_name_target: is_initialized
 * /my_gen3/paramtest_gazebo_initialization/param_value_expected: True
 * /my_gen3/paramtest_gazebo_initialization/wait_time: 60
 * /my_gen3/robot_description: <?xml version="1....
 * /my_gen3/robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /my_gen3/robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /my_gen3/robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /my_gen3/robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /my_gen3/robot_description_planning/joint_limits/finger_joint/has_acceleration_limits: False
 * /my_gen3/robot_description_planning/joint_limits/finger_joint/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/finger_joint/max_acceleration: 0
 * /my_gen3/robot_description_planning/joint_limits/finger_joint/max_velocity: 2
 * /my_gen3/robot_description_planning/joint_limits/joint_1/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_1/max_acceleration: 0.3
 * /my_gen3/robot_description_planning/joint_limits/joint_1/max_velocity: 0.86
 * /my_gen3/robot_description_planning/joint_limits/joint_2/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_2/max_acceleration: 0.3
 * /my_gen3/robot_description_planning/joint_limits/joint_2/max_velocity: 0.86
 * /my_gen3/robot_description_planning/joint_limits/joint_3/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_3/max_acceleration: 0.3
 * /my_gen3/robot_description_planning/joint_limits/joint_3/max_velocity: 0.86
 * /my_gen3/robot_description_planning/joint_limits/joint_4/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_4/max_acceleration: 0.3
 * /my_gen3/robot_description_planning/joint_limits/joint_4/max_velocity: 0.86
 * /my_gen3/robot_description_planning/joint_limits/joint_5/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_5/max_acceleration: 0.3
 * /my_gen3/robot_description_planning/joint_limits/joint_5/max_velocity: 0.86
 * /my_gen3/robot_description_planning/joint_limits/joint_6/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_6/max_acceleration: 0.3
 * /my_gen3/robot_description_planning/joint_limits/joint_6/max_velocity: 0.86
 * /my_gen3/robot_description_planning/joint_limits/joint_7/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_7/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_7/max_acceleration: 0.3
 * /my_gen3/robot_description_planning/joint_limits/joint_7/max_velocity: 0.86
 * /my_gen3/robot_description_planning/joint_limits/left_inner_finger_joint/has_acceleration_limits: False
 * /my_gen3/robot_description_planning/joint_limits/left_inner_finger_joint/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/left_inner_finger_joint/max_acceleration: 0
 * /my_gen3/robot_description_planning/joint_limits/left_inner_finger_joint/max_velocity: 2
 * /my_gen3/robot_description_planning/joint_limits/left_inner_knuckle_joint/has_acceleration_limits: False
 * /my_gen3/robot_description_planning/joint_limits/left_inner_knuckle_joint/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/left_inner_knuckle_joint/max_acceleration: 0
 * /my_gen3/robot_description_planning/joint_limits/left_inner_knuckle_joint/max_velocity: 2
 * /my_gen3/robot_description_planning/joint_limits/right_inner_finger_joint/has_acceleration_limits: False
 * /my_gen3/robot_description_planning/joint_limits/right_inner_finger_joint/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/right_inner_finger_joint/max_acceleration: 0
 * /my_gen3/robot_description_planning/joint_limits/right_inner_finger_joint/max_velocity: 2
 * /my_gen3/robot_description_planning/joint_limits/right_inner_knuckle_joint/has_acceleration_limits: False
 * /my_gen3/robot_description_planning/joint_limits/right_inner_knuckle_joint/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/right_inner_knuckle_joint/max_acceleration: 0
 * /my_gen3/robot_description_planning/joint_limits/right_inner_knuckle_joint/max_velocity: 2
 * /my_gen3/robot_description_planning/joint_limits/right_outer_knuckle_joint/has_acceleration_limits: False
 * /my_gen3/robot_description_planning/joint_limits/right_outer_knuckle_joint/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/right_outer_knuckle_joint/max_acceleration: 0
 * /my_gen3/robot_description_planning/joint_limits/right_outer_knuckle_joint/max_velocity: 2
 * /my_gen3/robot_description_semantic: <?xml version="1....
 * /my_gen3/robotiq_2f_85_gripper_controller/action_monitor_rate: 100
 * /my_gen3/robotiq_2f_85_gripper_controller/joint: finger_joint
 * /my_gen3/robotiq_2f_85_gripper_controller/type: position_controll...
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /use_sim_time: True

NODES
  /my_gen3/
    gen3_controller_spawner (controller_manager/spawner)
    home_the_arm (kortex_gazebo/home_robot.py)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    urdf_spawner (gazebo_ros/spawn_model)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)

auto-starting new master
process[master]: started with pid [15171]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 17f36216-8b23-11ea-8faa-b46921fbe091
process[rosout-1]: started with pid [15183]
started core service [/rosout]
process[gazebo-2]: started with pid [15190]
process[gazebo_gui-3]: started with pid [15195]
process[my_gen3/urdf_spawner-4]: started with pid [15200]
process[my_gen3/gen3_controller_spawner-5]: started with pid [15201]
process[my_gen3/robot_state_publisher-6]: started with pid [15202]
process[my_gen3/move_group-7]: started with pid [15203]
process[my_gen3/home_the_arm-8]: started with pid [15204]
[ INFO] [1588279344.396060209]: Loading robot model 'gen3_robotiq_2f_85'...
[ INFO] [1588279344.396668998]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1588279344.486859843]: Could not identify parent group for end-effector 'gripper'
[ WARN] [1588279344.504699939]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/my_gen3/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[INFO] [1588279344.616480, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1588279344.688330274]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1588279344.689278067]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1588279344.723754335]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1588279344.726705624]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1588279344.793782462]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1588279344.796232849]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1588279344.796454240]: Starting planning scene monitor
[ INFO] [1588279344.798624515]: Listening to '/my_gen3/planning_scene'
[ INFO] [1588279344.798715725]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1588279344.800917037]: Listening to '/my_gen3/collision_object'
[ INFO] [1588279344.803241557]: Listening to '/my_gen3/planning_scene_world' for planning scene world geometry
[ WARN] [1588279344.803780026]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[INFO] [1588279345.042594, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1588279345.051805, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1588279345.093982573]: Listening to '/my_gen3/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1588279345.111139741]: Initializing OMPL interface using ROS parameters
[ INFO] [1588279345.132371817]: Using planning interface 'OMPL'
[ INFO] [1588279345.133868202]: Constructing N point filter
[ INFO] [1588279345.135193166]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1588279345.135611486]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1588279345.135880320]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1588279345.136178027]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1588279345.136438546]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1588279345.136689691]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1588279345.136717798]: Using planning request adapter 'Trajectory filter 'UniformSampleFilter' of type 'UniformSampleFilter''
[ INFO] [1588279345.136726555]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1588279345.136733932]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1588279345.136740830]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1588279345.136747434]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1588279345.136754598]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1588279345.499649826]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1588279345.564205410]: Physics dynamic reconfigure ready.
[INFO] [1588279345.663172, 0.000000]: Calling service /gazebo/spawn_urdf_model
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[INFO] [1588279345.939837, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1588279345.940779, 0.000000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1588279345.949195, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1588279346.086979934]: MimicJointPlugin loaded! Joint: "finger_joint", Mimic joint: "right_outer_knuckle_joint", Multiplier: 1, Offset: 0, MaxEffort: 5, Sensitiveness: 0
[ INFO] [1588279346.087084299]: MimicJointPlugin loaded! Joint: "finger_joint", Mimic joint: "right_inner_knuckle_joint", Multiplier: 1, Offset: 0, MaxEffort: 5, Sensitiveness: 0
[ INFO] [1588279346.087136427]: MimicJointPlugin loaded! Joint: "finger_joint", Mimic joint: "left_inner_knuckle_joint", Multiplier: 1, Offset: 0, MaxEffort: 5, Sensitiveness: 0
[ INFO] [1588279346.087183951]: MimicJointPlugin loaded! Joint: "finger_joint", Mimic joint: "left_inner_finger_joint", Multiplier: -1, Offset: 0, MaxEffort: 5, Sensitiveness: 0
[ INFO] [1588279346.087239201]: MimicJointPlugin loaded! Joint: "finger_joint", Mimic joint: "right_inner_finger_joint", Multiplier: -1, Offset: 0, MaxEffort: 5, Sensitiveness: 0
[Msg] Loading grasp-fix plugin
[Msg] GazeboGraspFix: Using disable_collisions_on_attach 0
[Msg] GazeboGraspFix: Using update rate 10
[Msg] GazeboGraspFix: Using max_grip_count 10
[Msg] GazeboGraspFix: Using grip_count_threshold 3
[Msg] GazeboGraspFix: Using release_tolerance 0.001
[Msg] GazeboGraspFix: Adding collision scoped name my_gen3::left_inner_finger::left_inner_finger_collision
[Msg] GazeboGraspFix: Adding collision scoped name my_gen3::left_inner_finger::left_inner_finger_pad_collision_1
[Msg] GazeboGraspFix: Adding collision scoped name my_gen3::right_inner_finger::right_inner_finger_collision
[Msg] GazeboGraspFix: Adding collision scoped name my_gen3::right_inner_finger::right_inner_finger_pad_collision_1
[Msg] Subscribing contact manager to topic ~/my_gen3/contacts
[ INFO] [1588279346.106535408]: Loading gazebo_ros_control plugin
[ INFO] [1588279346.106607624]: Starting gazebo_ros_control plugin in namespace: my_gen3
[ INFO] [1588279346.106959494]: gazebo_ros_control plugin is waiting for model URDF in parameter [/my_gen3/robot_description] on the ROS param server.
[ INFO] [1588279346.231910900]: Loaded gazebo_ros_control.
[INFO] [1588279346.432607, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1588279346.445768, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1588279346.460657, 0.000000]: Loading controller: gen3_joint_trajectory_controller
[INFO] [1588279346.605559, 0.000000]: Loading controller: joint_state_controller
[INFO] [1588279346.617845, 0.000000]: Loading controller: robotiq_2f_85_gripper_controller
[INFO] [1588279346.639833, 0.000000]: Controller Spawner: Loaded controllers: gen3_joint_trajectory_controller, joint_state_controller, robotiq_2f_85_gripper_controller
[INFO] [1588279346.951111, 0.000000]: Calling service /gazebo/set_model_configuration
[INFO] [1588279346.966824, 0.000000]: Set model configuration status: SetModelConfiguration: success
[my_gen3/urdf_spawner-4] process has finished cleanly
log file: /home/aamir/.ros/log/17f36216-8b23-11ea-8faa-b46921fbe091/my_gen3-urdf_spawner-4*.log
[INFO] [1588279355.680905, 0.001000]: Started controllers: gen3_joint_trajectory_controller, joint_state_controller, robotiq_2f_85_gripper_controller
[ WARN] [1588279355.932014880]: Could not identify parent group for end-effector 'gripper'
[ WARN] [1588279355.948901472]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/my_gen3/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1588279355.998286781, 0.310000000]: Added FollowJointTrajectory controller for gen3_joint_trajectory_controller
[ INFO] [1588279356.459745285, 0.765000000]: Added GripperCommand controller for robotiq_2f_85_gripper_controller
[ INFO] [1588279356.459810345, 0.765000000]: Returned 2 controllers in list
[ INFO] [1588279356.489758980, 0.795000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1588279356.579240123, 0.884000000]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1588279356.579288302, 0.884000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1588279356.579304641, 0.884000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1588279358.205927412, 2.502000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1588279358.206262278, 2.503000000]: Planning attempt 1 of at most 1
[ INFO] [1588279358.206959646, 2.503000000]: Using a sample_duration value of 0.001
[ INFO] [1588279358.208886446, 2.505000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1588279358.209742532, 2.506000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1588279358.224918671, 2.521000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1588279358.225147363, 2.521000000]: Solution found in 0.015674 seconds
[ INFO] [1588279358.233860557, 2.531000000]: SimpleSetup: Path simplification took 0.008593 seconds and changed from 3 to 2 states
[ INFO] [1588279358.239802638, 2.537000000]: Interpolated time exceeds original trajectory (quitting), original: 5.19855 final interpolated time: 5.199
[ INFO] [1588279358.239850300, 2.537000000]: Uniform sampling, resample duraction: 0.001 input traj. size: 21 output traj. size: 5200
[ INFO] [1588279363.695692795, 7.929000000]: Controller gen3_joint_trajectory_controller successfully finished
[ INFO] [1588279363.708604486, 7.942000000]: Completed trajectory execution with status SUCCEEDED ...
[my_gen3/home_the_arm-8] process has finished cleanly
log file: /home/aamir/.ros/log/17f36216-8b23-11ea-8faa-b46921fbe091/my_gen3-home_the_arm-8*.log