hand@shadow-testing:~/projects/shadow_robot/base/src/sr_config/sr_config$ roslaunch sr_ethercat_hand_config sr_rhand.launch
... logging to /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/roslaunch-shadow-testing-4501.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://shadow-testing:35405/

SUMMARY
========

PARAMETERS
 * /bag_rotate/bag_files_num: 6
 * /bag_rotate/bag_files_path: .
 * /cal_sh_rh_ffj0/actuator: FFJ0
 * /cal_sh_rh_ffj0/joint: FFJ2
 * /cal_sh_rh_ffj0/robot_id: rh
 * /cal_sh_rh_ffj0/transmission: ffmiddle_transmis...
 * /cal_sh_rh_ffj0/type: sr_mechanism_cont...
 * /cal_sh_rh_ffj3/actuator: FFJ3
 * /cal_sh_rh_ffj3/joint: FFJ3
 * /cal_sh_rh_ffj3/robot_id: rh
 * /cal_sh_rh_ffj3/transmission: ffproximal_transm...
 * /cal_sh_rh_ffj3/type: sr_mechanism_cont...
 * /cal_sh_rh_ffj4/actuator: FFJ4
 * /cal_sh_rh_ffj4/joint: FFJ4
 * /cal_sh_rh_ffj4/robot_id: rh
 * /cal_sh_rh_ffj4/transmission: ffknuckle_transmi...
 * /cal_sh_rh_ffj4/type: sr_mechanism_cont...
 * /cal_sh_rh_lfj0/actuator: LFJ0
 * /cal_sh_rh_lfj0/joint: LFJ2
 * /cal_sh_rh_lfj0/robot_id: rh
 * /cal_sh_rh_lfj0/transmission: lfmiddle_transmis...
 * /cal_sh_rh_lfj0/type: sr_mechanism_cont...
 * /cal_sh_rh_lfj3/actuator: LFJ3
 * /cal_sh_rh_lfj3/joint: LFJ3
 * /cal_sh_rh_lfj3/robot_id: rh
 * /cal_sh_rh_lfj3/transmission: lfproximal_transm...
 * /cal_sh_rh_lfj3/type: sr_mechanism_cont...
 * /cal_sh_rh_lfj4/actuator: LFJ4
 * /cal_sh_rh_lfj4/joint: LFJ4
 * /cal_sh_rh_lfj4/robot_id: rh
 * /cal_sh_rh_lfj4/transmission: lfknuckle_transmi...
 * /cal_sh_rh_lfj4/type: sr_mechanism_cont...
 * /cal_sh_rh_lfj5/actuator: LFJ5
 * /cal_sh_rh_lfj5/joint: LFJ5
 * /cal_sh_rh_lfj5/robot_id: rh
 * /cal_sh_rh_lfj5/transmission: lfmetacarpal_tran...
 * /cal_sh_rh_lfj5/type: sr_mechanism_cont...
 * /cal_sh_rh_mfj0/actuator: MFJ0
 * /cal_sh_rh_mfj0/joint: MFJ2
 * /cal_sh_rh_mfj0/robot_id: rh
 * /cal_sh_rh_mfj0/transmission: mfmiddle_transmis...
 * /cal_sh_rh_mfj0/type: sr_mechanism_cont...
 * /cal_sh_rh_mfj3/actuator: MFJ3
 * /cal_sh_rh_mfj3/joint: MFJ3
 * /cal_sh_rh_mfj3/robot_id: rh
 * /cal_sh_rh_mfj3/transmission: mfproximal_transm...
 * /cal_sh_rh_mfj3/type: sr_mechanism_cont...
 * /cal_sh_rh_mfj4/actuator: MFJ4
 * /cal_sh_rh_mfj4/joint: MFJ4
 * /cal_sh_rh_mfj4/robot_id: rh
 * /cal_sh_rh_mfj4/transmission: mfknuckle_transmi...
 * /cal_sh_rh_mfj4/type: sr_mechanism_cont...
 * /cal_sh_rh_rfj0/actuator: RFJ0
 * /cal_sh_rh_rfj0/joint: RFJ2
 * /cal_sh_rh_rfj0/robot_id: rh
 * /cal_sh_rh_rfj0/transmission: rfmiddle_transmis...
 * /cal_sh_rh_rfj0/type: sr_mechanism_cont...
 * /cal_sh_rh_rfj3/actuator: RFJ3
 * /cal_sh_rh_rfj3/joint: RFJ3
 * /cal_sh_rh_rfj3/robot_id: rh
 * /cal_sh_rh_rfj3/transmission: rfproximal_transm...
 * /cal_sh_rh_rfj3/type: sr_mechanism_cont...
 * /cal_sh_rh_rfj4/actuator: RFJ4
 * /cal_sh_rh_rfj4/joint: RFJ4
 * /cal_sh_rh_rfj4/robot_id: rh
 * /cal_sh_rh_rfj4/transmission: rfknuckle_transmi...
 * /cal_sh_rh_rfj4/type: sr_mechanism_cont...
 * /cal_sh_rh_thj1/actuator: THJ1
 * /cal_sh_rh_thj1/joint: THJ1
 * /cal_sh_rh_thj1/robot_id: rh
 * /cal_sh_rh_thj1/transmission: thdistal_transmis...
 * /cal_sh_rh_thj1/type: sr_mechanism_cont...
 * /cal_sh_rh_thj2/actuator: THJ2
 * /cal_sh_rh_thj2/joint: THJ2
 * /cal_sh_rh_thj2/robot_id: rh
 * /cal_sh_rh_thj2/transmission: thmiddle_transmis...
 * /cal_sh_rh_thj2/type: sr_mechanism_cont...
 * /cal_sh_rh_thj3/actuator: THJ3
 * /cal_sh_rh_thj3/joint: THJ3
 * /cal_sh_rh_thj3/robot_id: rh
 * /cal_sh_rh_thj3/transmission: thhub_transmission
 * /cal_sh_rh_thj3/type: sr_mechanism_cont...
 * /cal_sh_rh_thj4/actuator: THJ4
 * /cal_sh_rh_thj4/joint: THJ4
 * /cal_sh_rh_thj4/robot_id: rh
 * /cal_sh_rh_thj4/transmission: thproximal_transm...
 * /cal_sh_rh_thj4/type: sr_mechanism_cont...
 * /cal_sh_rh_thj5/actuator: THJ5
 * /cal_sh_rh_thj5/joint: THJ5
 * /cal_sh_rh_thj5/robot_id: rh
 * /cal_sh_rh_thj5/transmission: thbase_transmission
 * /cal_sh_rh_thj5/type: sr_mechanism_cont...
 * /cal_sh_rh_wrj1/actuator: WRJ1
 * /cal_sh_rh_wrj1/joint: WRJ1
 * /cal_sh_rh_wrj1/robot_id: rh
 * /cal_sh_rh_wrj1/transmission: palm_transmission
 * /cal_sh_rh_wrj1/type: sr_mechanism_cont...
 * /cal_sh_rh_wrj2/actuator: WRJ2
 * /cal_sh_rh_wrj2/joint: WRJ2
 * /cal_sh_rh_wrj2/robot_id: rh
 * /cal_sh_rh_wrj2/transmission: wrist_transmission
 * /cal_sh_rh_wrj2/type: sr_mechanism_cont...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/num_items: 2
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/path: Devices
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/regex: ['SRDMotor : [0-9...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/controllers/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/num_items: 5
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/path: First Finger
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/regex: SRDMotor .*FFJ[0-...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/first_finger/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/num_items: 6
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/path: Little Finger
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/regex: SRDMotor .*LFJ[0-...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/little_finger/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/num_items: 5
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/path: Middle Finger
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/regex: SRDMotor .*MFJ[0-...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/middle_finger/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/num_items: 5
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/path: Ring Finger
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/regex: SRDMotor .*RFJ[0-...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/right_finger/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/num_items: 5
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/path: Tactiles
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/regex: Tactile .*[1-5].*
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/tactiles/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/num_items: 5
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/path: Thumb
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/regex: SRDMotor .*THJ[0-...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/thumb/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/num_items: 2
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/path: Wrist
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/regex: SRDMotor .*WRJ[0-...
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/timeout: 5.0
 * /diagnostic_aggregator/analyzers/shadow_hand/analyzers/wrist/type: GenericAnalyzer
 * /diagnostic_aggregator/analyzers/shadow_hand/path: Shadow Hand
 * /diagnostic_aggregator/analyzers/shadow_hand/type: AnalyzerGroup
 * /hand/joint_prefix/1818: rh_
 * /hand/mapping/1818: rh
 * /joint_state_controller/publish_rate: 100
 * /joint_state_controller/type: joint_state_contr...
 * /mongo_wrapper_ros_shadow_testing_4501_4482490486701645035/database_path: /home/hand/projec...
 * /mongo_wrapper_ros_shadow_testing_4501_4482490486701645035/overwrite: False
 * /param_dump/log_directory: .
 * /realtime_loop/image_path: /home/hand/projec...
 * /realtime_loop/rh/default_control_mode: PWM
 * /realtime_loop/use_ns: True
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_10: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_12: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_14: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_16: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_18: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_20: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_22: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_24: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_2: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_4: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_6: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_8: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_PDC: -1.0
 * /rh/biotac_sensor_data_update_rate/TACTILE_SENSOR_TYPE_BIOTAC_TDC: -1.0
 * /rh/ffj0/backlash_compensation: True
 * /rh/ffj0/pid/d: 0
 * /rh/ffj0/pid/deadband: 5
 * /rh/ffj0/pid/f: 300
 * /rh/ffj0/pid/i: 0
 * /rh/ffj0/pid/imax: 0
 * /rh/ffj0/pid/max_pwm: 600
 * /rh/ffj0/pid/p: 6200
 * /rh/ffj0/pid/sg_left: 0
 * /rh/ffj0/pid/sg_right: 0
 * /rh/ffj0/pid/sgleftref: 0
 * /rh/ffj0/pid/sgrightref: 0
 * /rh/ffj0/pid/sign: 0
 * /rh/ffj0/pid/torque_limit: 500
 * /rh/ffj0/pid/torque_limiter_gain: 64
 * /rh/ffj0/pos_filter/tau: 0.05
 * /rh/ffj3/backlash_compensation: True
 * /rh/ffj3/pid/d: 0
 * /rh/ffj3/pid/deadband: 5
 * /rh/ffj3/pid/f: 300
 * /rh/ffj3/pid/i: 0
 * /rh/ffj3/pid/imax: 0
 * /rh/ffj3/pid/max_pwm: 600
 * /rh/ffj3/pid/p: 6200
 * /rh/ffj3/pid/sg_left: 0
 * /rh/ffj3/pid/sg_right: 0
 * /rh/ffj3/pid/sgleftref: 0
 * /rh/ffj3/pid/sgrightref: 0
 * /rh/ffj3/pid/sign: 0
 * /rh/ffj3/pid/torque_limit: 450
 * /rh/ffj3/pid/torque_limiter_gain: 64
 * /rh/ffj3/pos_filter/tau: 0.05
 * /rh/ffj4/backlash_compensation: True
 * /rh/ffj4/pid/d: 0
 * /rh/ffj4/pid/deadband: 5
 * /rh/ffj4/pid/f: 300
 * /rh/ffj4/pid/i: 0
 * /rh/ffj4/pid/imax: 0
 * /rh/ffj4/pid/max_pwm: 400
 * /rh/ffj4/pid/p: 6200
 * /rh/ffj4/pid/sg_left: 0
 * /rh/ffj4/pid/sg_right: 0
 * /rh/ffj4/pid/sgleftref: 0
 * /rh/ffj4/pid/sgrightref: 0
 * /rh/ffj4/pid/sign: 0
 * /rh/ffj4/pid/torque_limit: 350
 * /rh/ffj4/pid/torque_limiter_gain: 64
 * /rh/ffj4/pos_filter/tau: 0.05
 * /rh/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_MANUFACTURER: -2.0
 * /rh/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PCB_VERSION: -2.0
 * /rh/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ: -2.0
 * /rh/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_SERIAL_NUMBER: -2.0
 * /rh/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_SOFTWARE_VERSION: -2.0
 * /rh/generic_sensor_data_update_rate/TACTILE_SENSOR_TYPE_WHICH_SENSORS: -2.0
 * /rh/hand_id: rh
 * /rh/joint_to_motor_mapping: [0, -1, -1, 1, 2,...
 * /rh/joint_to_sensor_mapping: [[['FFJ1', 1.0], ...
 * /rh/lfj0/backlash_compensation: True
 * /rh/lfj0/pid/d: 0
 * /rh/lfj0/pid/deadband: 5
 * /rh/lfj0/pid/f: 300
 * /rh/lfj0/pid/i: 0
 * /rh/lfj0/pid/imax: 0
 * /rh/lfj0/pid/max_pwm: 600
 * /rh/lfj0/pid/p: 6200
 * /rh/lfj0/pid/sg_left: 0
 * /rh/lfj0/pid/sg_right: 0
 * /rh/lfj0/pid/sgleftref: 0
 * /rh/lfj0/pid/sgrightref: 0
 * /rh/lfj0/pid/sign: 0
 * /rh/lfj0/pid/torque_limit: 500
 * /rh/lfj0/pid/torque_limiter_gain: 64
 * /rh/lfj0/pos_filter/tau: 0.05
 * /rh/lfj3/backlash_compensation: True
 * /rh/lfj3/pid/d: 0
 * /rh/lfj3/pid/deadband: 5
 * /rh/lfj3/pid/f: 300
 * /rh/lfj3/pid/i: 0
 * /rh/lfj3/pid/imax: 0
 * /rh/lfj3/pid/max_pwm: 600
 * /rh/lfj3/pid/p: 6200
 * /rh/lfj3/pid/sg_left: 0
 * /rh/lfj3/pid/sg_right: 0
 * /rh/lfj3/pid/sgleftref: 0
 * /rh/lfj3/pid/sgrightref: 0
 * /rh/lfj3/pid/sign: 0
 * /rh/lfj3/pid/torque_limit: 450
 * /rh/lfj3/pid/torque_limiter_gain: 64
 * /rh/lfj3/pos_filter/tau: 0.05
 * /rh/lfj4/backlash_compensation: True
 * /rh/lfj4/pid/d: 0
 * /rh/lfj4/pid/deadband: 5
 * /rh/lfj4/pid/f: 300
 * /rh/lfj4/pid/i: 0
 * /rh/lfj4/pid/imax: 0
 * /rh/lfj4/pid/max_pwm: 400
 * /rh/lfj4/pid/p: 6200
 * /rh/lfj4/pid/sg_left: 0
 * /rh/lfj4/pid/sg_right: 0
 * /rh/lfj4/pid/sgleftref: 0
 * /rh/lfj4/pid/sgrightref: 0
 * /rh/lfj4/pid/sign: 0
 * /rh/lfj4/pid/torque_limit: 350
 * /rh/lfj4/pid/torque_limiter_gain: 64
 * /rh/lfj4/pos_filter/tau: 0.05
 * /rh/lfj5/backlash_compensation: True
 * /rh/lfj5/pid/d: 0
 * /rh/lfj5/pid/deadband: 5
 * /rh/lfj5/pid/f: 300
 * /rh/lfj5/pid/i: 0
 * /rh/lfj5/pid/imax: 0
 * /rh/lfj5/pid/max_pwm: 500
 * /rh/lfj5/pid/p: 6200
 * /rh/lfj5/pid/sg_left: 0
 * /rh/lfj5/pid/sg_right: 0
 * /rh/lfj5/pid/sgleftref: 0
 * /rh/lfj5/pid/sgrightref: 0
 * /rh/lfj5/pid/sign: 0
 * /rh/lfj5/pid/torque_limit: 450
 * /rh/lfj5/pid/torque_limiter_gain: 64
 * /rh/lfj5/pos_filter/tau: 0.05
 * /rh/mfj0/backlash_compensation: True
 * /rh/mfj0/pid/d: 0
 * /rh/mfj0/pid/deadband: 5
 * /rh/mfj0/pid/f: 300
 * /rh/mfj0/pid/i: 0
 * /rh/mfj0/pid/imax: 0
 * /rh/mfj0/pid/max_pwm: 600
 * /rh/mfj0/pid/p: 6200
 * /rh/mfj0/pid/sg_left: 0
 * /rh/mfj0/pid/sg_right: 0
 * /rh/mfj0/pid/sgleftref: 0
 * /rh/mfj0/pid/sgrightref: 0
 * /rh/mfj0/pid/sign: 0
 * /rh/mfj0/pid/torque_limit: 500
 * /rh/mfj0/pid/torque_limiter_gain: 64
 * /rh/mfj0/pos_filter/tau: 0.05
 * /rh/mfj3/backlash_compensation: True
 * /rh/mfj3/pid/d: 0
 * /rh/mfj3/pid/deadband: 5
 * /rh/mfj3/pid/f: 300
 * /rh/mfj3/pid/i: 0
 * /rh/mfj3/pid/imax: 0
 * /rh/mfj3/pid/max_pwm: 600
 * /rh/mfj3/pid/p: 6200
 * /rh/mfj3/pid/sg_left: 0
 * /rh/mfj3/pid/sg_right: 0
 * /rh/mfj3/pid/sgleftref: 0
 * /rh/mfj3/pid/sgrightref: 0
 * /rh/mfj3/pid/sign: 0
 * /rh/mfj3/pid/torque_limit: 450
 * /rh/mfj3/pid/torque_limiter_gain: 64
 * /rh/mfj3/pos_filter/tau: 0.05
 * /rh/mfj4/backlash_compensation: True
 * /rh/mfj4/pid/d: 0
 * /rh/mfj4/pid/deadband: 5
 * /rh/mfj4/pid/f: 300
 * /rh/mfj4/pid/i: 0
 * /rh/mfj4/pid/imax: 0
 * /rh/mfj4/pid/max_pwm: 400
 * /rh/mfj4/pid/p: 6200
 * /rh/mfj4/pid/sg_left: 0
 * /rh/mfj4/pid/sg_right: 0
 * /rh/mfj4/pid/sgleftref: 0
 * /rh/mfj4/pid/sgrightref: 0
 * /rh/mfj4/pid/sign: 0
 * /rh/mfj4/pid/torque_limit: 350
 * /rh/mfj4/pid/torque_limiter_gain: 64
 * /rh/mfj4/pos_filter/tau: 0.05
 * /rh/motor_data_update_rate/can_error_counters: 0.1
 * /rh/motor_data_update_rate/can_num_received: 0.1
 * /rh/motor_data_update_rate/can_num_transmitted: 0.1
 * /rh/motor_data_update_rate/current: -1.0
 * /rh/motor_data_update_rate/dterm: -2.0
 * /rh/motor_data_update_rate/flags: -1.0
 * /rh/motor_data_update_rate/iterm: -2.0
 * /rh/motor_data_update_rate/pterm: -2.0
 * /rh/motor_data_update_rate/pwm: -1.0
 * /rh/motor_data_update_rate/sgl: -1.0
 * /rh/motor_data_update_rate/sgr: -1.0
 * /rh/motor_data_update_rate/slow_data: -2.0
 * /rh/motor_data_update_rate/temperature: 1.0
 * /rh/motor_data_update_rate/voltage: 2.0
 * /rh/muscle_data_update_rate/muscle_data_can_stats: 0.1
 * /rh/muscle_data_update_rate/muscle_data_pressure: -1.0
 * /rh/muscle_data_update_rate/muscle_data_slow_misc: -2.0
 * /rh/pst3_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PST3_DAC_VALUE: 1.0
 * /rh/pst3_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PST3_PRESSURE_RAW_ZERO_TRACKING: 1.0
 * /rh/pst3_sensor_data_update_rate/TACTILE_SENSOR_TYPE_PST3_PRESSURE_TEMPERATURE: -1.0
 * /rh/rfj0/backlash_compensation: True
 * /rh/rfj0/pid/d: 0
 * /rh/rfj0/pid/deadband: 5
 * /rh/rfj0/pid/f: 300
 * /rh/rfj0/pid/i: 0
 * /rh/rfj0/pid/imax: 0
 * /rh/rfj0/pid/max_pwm: 600
 * /rh/rfj0/pid/p: 6200
 * /rh/rfj0/pid/sg_left: 0
 * /rh/rfj0/pid/sg_right: 0
 * /rh/rfj0/pid/sgleftref: 0
 * /rh/rfj0/pid/sgrightref: 0
 * /rh/rfj0/pid/sign: 0
 * /rh/rfj0/pid/torque_limit: 500
 * /rh/rfj0/pid/torque_limiter_gain: 64
 * /rh/rfj0/pos_filter/tau: 0.05
 * /rh/rfj3/backlash_compensation: True
 * /rh/rfj3/pid/d: 0
 * /rh/rfj3/pid/deadband: 5
 * /rh/rfj3/pid/f: 300
 * /rh/rfj3/pid/i: 0
 * /rh/rfj3/pid/imax: 0
 * /rh/rfj3/pid/max_pwm: 600
 * /rh/rfj3/pid/p: 6200
 * /rh/rfj3/pid/sg_left: 0
 * /rh/rfj3/pid/sg_right: 0
 * /rh/rfj3/pid/sgleftref: 0
 * /rh/rfj3/pid/sgrightref: 0
 * /rh/rfj3/pid/sign: 0
 * /rh/rfj3/pid/torque_limit: 450
 * /rh/rfj3/pid/torque_limiter_gain: 64
 * /rh/rfj3/pos_filter/tau: 0.05
 * /rh/rfj4/backlash_compensation: True
 * /rh/rfj4/pid/d: 0
 * /rh/rfj4/pid/deadband: 5
 * /rh/rfj4/pid/f: 300
 * /rh/rfj4/pid/i: 0
 * /rh/rfj4/pid/imax: 0
 * /rh/rfj4/pid/max_pwm: 400
 * /rh/rfj4/pid/p: 6200
 * /rh/rfj4/pid/sg_left: 0
 * /rh/rfj4/pid/sg_right: 0
 * /rh/rfj4/pid/sgleftref: 0
 * /rh/rfj4/pid/sgrightref: 0
 * /rh/rfj4/pid/sign: 0
 * /rh/rfj4/pid/torque_limit: 350
 * /rh/rfj4/pid/torque_limiter_gain: 64
 * /rh/rfj4/pos_filter/tau: 0.05
 * /rh/sr_calibrations: [['FFJ1', [[3538....
 * /rh/sr_pressure_calibrations: [['FFJ0_0', [[167...
 * /rh/thj1/backlash_compensation: True
 * /rh/thj1/pid/d: 0
 * /rh/thj1/pid/deadband: 5
 * /rh/thj1/pid/f: 300
 * /rh/thj1/pid/i: 0
 * /rh/thj1/pid/imax: 0
 * /rh/thj1/pid/max_pwm: 500
 * /rh/thj1/pid/p: 6200
 * /rh/thj1/pid/sg_left: 0
 * /rh/thj1/pid/sg_right: 0
 * /rh/thj1/pid/sgleftref: 0
 * /rh/thj1/pid/sgrightref: 0
 * /rh/thj1/pid/sign: 0
 * /rh/thj1/pid/torque_limit: 400
 * /rh/thj1/pid/torque_limiter_gain: 64
 * /rh/thj1/pos_filter/tau: 0.05
 * /rh/thj2/backlash_compensation: True
 * /rh/thj2/pid/d: 0
 * /rh/thj2/pid/deadband: 5
 * /rh/thj2/pid/f: 300
 * /rh/thj2/pid/i: 0
 * /rh/thj2/pid/imax: 0
 * /rh/thj2/pid/max_pwm: 500
 * /rh/thj2/pid/p: 6200
 * /rh/thj2/pid/sg_left: 0
 * /rh/thj2/pid/sg_right: 0
 * /rh/thj2/pid/sgleftref: 0
 * /rh/thj2/pid/sgrightref: 0
 * /rh/thj2/pid/sign: 0
 * /rh/thj2/pid/torque_limit: 400
 * /rh/thj2/pid/torque_limiter_gain: 64
 * /rh/thj2/pos_filter/tau: 0.05
 * /rh/thj3/backlash_compensation: True
 * /rh/thj3/pid/d: 0
 * /rh/thj3/pid/deadband: 5
 * /rh/thj3/pid/f: 300
 * /rh/thj3/pid/i: 0
 * /rh/thj3/pid/imax: 0
 * /rh/thj3/pid/max_pwm: 400
 * /rh/thj3/pid/p: 6200
 * /rh/thj3/pid/sg_left: 0
 * /rh/thj3/pid/sg_right: 0
 * /rh/thj3/pid/sgleftref: 0
 * /rh/thj3/pid/sgrightref: 0
 * /rh/thj3/pid/sign: 0
 * /rh/thj3/pid/torque_limit: 350
 * /rh/thj3/pid/torque_limiter_gain: 64
 * /rh/thj3/pos_filter/tau: 0.05
 * /rh/thj4/backlash_compensation: False
 * /rh/thj4/pid/d: 0
 * /rh/thj4/pid/deadband: 5
 * /rh/thj4/pid/f: 300
 * /rh/thj4/pid/i: 0
 * /rh/thj4/pid/imax: 0
 * /rh/thj4/pid/max_pwm: 400
 * /rh/thj4/pid/p: 8200
 * /rh/thj4/pid/sg_left: 0
 * /rh/thj4/pid/sg_right: 0
 * /rh/thj4/pid/sgleftref: 0
 * /rh/thj4/pid/sgrightref: 0
 * /rh/thj4/pid/sign: 0
 * /rh/thj4/pid/torque_limit: 150
 * /rh/thj4/pid/torque_limiter_gain: 64
 * /rh/thj4/pos_filter/tau: 0.05
 * /rh/thj5/backlash_compensation: False
 * /rh/thj5/pid/d: 0
 * /rh/thj5/pid/deadband: 5
 * /rh/thj5/pid/f: 300
 * /rh/thj5/pid/i: 0
 * /rh/thj5/pid/imax: 0
 * /rh/thj5/pid/max_pwm: 400
 * /rh/thj5/pid/p: 8200
 * /rh/thj5/pid/sg_left: 0
 * /rh/thj5/pid/sg_right: 0
 * /rh/thj5/pid/sgleftref: 0
 * /rh/thj5/pid/sgrightref: 0
 * /rh/thj5/pid/sign: 0
 * /rh/thj5/pid/torque_limit: 150
 * /rh/thj5/pid/torque_limiter_gain: 64
 * /rh/thj5/pos_filter/tau: 0.05
 * /rh/ubi0_sensor_data_update_rate/TACTILE_SENSOR_TYPE_UBI0_TACTILE: -1.0
 * /rh/wrj1/backlash_compensation: False
 * /rh/wrj1/pid/d: 0
 * /rh/wrj1/pid/deadband: 5
 * /rh/wrj1/pid/f: 300
 * /rh/wrj1/pid/i: 0
 * /rh/wrj1/pid/imax: 0
 * /rh/wrj1/pid/max_pwm: 600
 * /rh/wrj1/pid/p: 6200
 * /rh/wrj1/pid/sg_left: 0
 * /rh/wrj1/pid/sg_right: 0
 * /rh/wrj1/pid/sgleftref: 0
 * /rh/wrj1/pid/sgrightref: 0
 * /rh/wrj1/pid/sign: 0
 * /rh/wrj1/pid/torque_limit: 200
 * /rh/wrj1/pid/torque_limiter_gain: 64
 * /rh/wrj1/pos_filter/tau: 0.05
 * /rh/wrj2/backlash_compensation: False
 * /rh/wrj2/pid/d: 0
 * /rh/wrj2/pid/deadband: 5
 * /rh/wrj2/pid/f: 300
 * /rh/wrj2/pid/i: 0
 * /rh/wrj2/pid/imax: 0
 * /rh/wrj2/pid/max_pwm: 500
 * /rh/wrj2/pid/p: 6200
 * /rh/wrj2/pid/sg_left: 0
 * /rh/wrj2/pid/sg_right: 0
 * /rh/wrj2/pid/sgleftref: 0
 * /rh/wrj2/pid/sgrightref: 0
 * /rh/wrj2/pid/sign: 0
 * /rh/wrj2/pid/torque_limit: 150
 * /rh/wrj2/pid/torque_limiter_gain: 64
 * /rh/wrj2/pos_filter/tau: 0.05
 * /rh_trajectory_controller/hand_trajectory: True
 * /rh_trajectory_controller/wait_for: /calibrated
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 100.0
 * /robot_state_publisher/tf_prefix:
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /sh_rh_ffj0_effort_controller/friction_deadband: 5
 * /sh_rh_ffj0_effort_controller/joint: rh_FFJ0
 * /sh_rh_ffj0_effort_controller/max_force: 600
 * /sh_rh_ffj0_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj0_mixed_position_velocity_controller/joint: rh_FFJ0
 * /sh_rh_ffj0_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_ffj0_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_ffj0_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_ffj0_mixed_position_velocity_controller/position_pid/max_velocity: 3.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/position_pid/min_velocity: -3.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_ffj0_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj0_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_ffj0_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_ffj0_position_controller/joint: rh_FFJ0
 * /sh_rh_ffj0_position_controller/pid/d: 0.0
 * /sh_rh_ffj0_position_controller/pid/deadband: 0
 * /sh_rh_ffj0_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_ffj0_position_controller/pid/i: 0.0
 * /sh_rh_ffj0_position_controller/pid/i_clamp: 0.0
 * /sh_rh_ffj0_position_controller/pid/max_force: 600.0
 * /sh_rh_ffj0_position_controller/pid/p: -5200.0
 * /sh_rh_ffj0_position_controller/pid/position_deadband: 0.002
 * /sh_rh_ffj0_position_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj0_velocity_controller/joint: rh_FFJ0
 * /sh_rh_ffj0_velocity_controller/pid/d: 0
 * /sh_rh_ffj0_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_ffj0_velocity_controller/pid/i: 0
 * /sh_rh_ffj0_velocity_controller/pid/i_clamp: 1
 * /sh_rh_ffj0_velocity_controller/pid/max_force: 0
 * /sh_rh_ffj0_velocity_controller/pid/p: 0
 * /sh_rh_ffj0_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_ffj0_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj3_effort_controller/friction_deadband: 5
 * /sh_rh_ffj3_effort_controller/joint: rh_FFJ3
 * /sh_rh_ffj3_effort_controller/max_force: 600
 * /sh_rh_ffj3_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj3_mixed_position_velocity_controller/joint: rh_FFJ3
 * /sh_rh_ffj3_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_ffj3_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_ffj3_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_ffj3_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_ffj3_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_ffj3_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_ffj3_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_ffj3_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_ffj3_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj3_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_ffj3_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_ffj3_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_ffj3_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_ffj3_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_ffj3_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_ffj3_position_controller/joint: rh_FFJ3
 * /sh_rh_ffj3_position_controller/pid/d: 260.0
 * /sh_rh_ffj3_position_controller/pid/deadband: 0.0
 * /sh_rh_ffj3_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_ffj3_position_controller/pid/i: 0.0
 * /sh_rh_ffj3_position_controller/pid/i_clamp: 0.0
 * /sh_rh_ffj3_position_controller/pid/max_force: 600.0
 * /sh_rh_ffj3_position_controller/pid/p: 6900.0
 * /sh_rh_ffj3_position_controller/pid/position_deadband: 0.002
 * /sh_rh_ffj3_position_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj3_velocity_controller/joint: rh_FFJ3
 * /sh_rh_ffj3_velocity_controller/pid/d: 0
 * /sh_rh_ffj3_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_ffj3_velocity_controller/pid/i: 0
 * /sh_rh_ffj3_velocity_controller/pid/i_clamp: 0
 * /sh_rh_ffj3_velocity_controller/pid/max_force: 0
 * /sh_rh_ffj3_velocity_controller/pid/p: 0
 * /sh_rh_ffj3_velocity_controller/pid/velocity_deadband: 0.0
 * /sh_rh_ffj3_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj4_effort_controller/friction_deadband: 5
 * /sh_rh_ffj4_effort_controller/joint: rh_FFJ4
 * /sh_rh_ffj4_effort_controller/max_force: 400
 * /sh_rh_ffj4_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj4_mixed_position_velocity_controller/joint: rh_FFJ4
 * /sh_rh_ffj4_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_ffj4_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_ffj4_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_ffj4_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_ffj4_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_ffj4_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_ffj4_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_ffj4_mixed_position_velocity_controller/position_pid/position_deadband: 0.003
 * /sh_rh_ffj4_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj4_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_ffj4_mixed_position_velocity_controller/velocity_pid/friction_deadband: 5000.0
 * /sh_rh_ffj4_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_ffj4_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_ffj4_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_ffj4_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_ffj4_position_controller/joint: rh_FFJ4
 * /sh_rh_ffj4_position_controller/pid/d: -250.0
 * /sh_rh_ffj4_position_controller/pid/deadband: 0.02
 * /sh_rh_ffj4_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_ffj4_position_controller/pid/i: 0.0
 * /sh_rh_ffj4_position_controller/pid/i_clamp: 0.0
 * /sh_rh_ffj4_position_controller/pid/max_force: 350.0
 * /sh_rh_ffj4_position_controller/pid/p: -7000.0
 * /sh_rh_ffj4_position_controller/pid/position_deadband: 0.003
 * /sh_rh_ffj4_position_controller/type: sr_mechanism_cont...
 * /sh_rh_ffj4_velocity_controller/joint: rh_FFJ4
 * /sh_rh_ffj4_velocity_controller/pid/d: 0
 * /sh_rh_ffj4_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_ffj4_velocity_controller/pid/i: 0
 * /sh_rh_ffj4_velocity_controller/pid/i_clamp: 1
 * /sh_rh_ffj4_velocity_controller/pid/max_force: 0
 * /sh_rh_ffj4_velocity_controller/pid/p: 0
 * /sh_rh_ffj4_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_ffj4_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj0_effort_controller/friction_deadband: 5
 * /sh_rh_lfj0_effort_controller/joint: rh_LFJ0
 * /sh_rh_lfj0_effort_controller/max_force: 600
 * /sh_rh_lfj0_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj0_mixed_position_velocity_controller/joint: rh_LFJ0
 * /sh_rh_lfj0_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_lfj0_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_lfj0_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_lfj0_mixed_position_velocity_controller/position_pid/max_velocity: 3.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/position_pid/min_velocity: -3.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_lfj0_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj0_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_lfj0_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_lfj0_position_controller/joint: rh_LFJ0
 * /sh_rh_lfj0_position_controller/pid/d: 0.0
 * /sh_rh_lfj0_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_lfj0_position_controller/pid/i: 0.0
 * /sh_rh_lfj0_position_controller/pid/i_clamp: 0.0
 * /sh_rh_lfj0_position_controller/pid/max_force: 600.0
 * /sh_rh_lfj0_position_controller/pid/p: 4500.0
 * /sh_rh_lfj0_position_controller/pid/position_deadband: 0.002
 * /sh_rh_lfj0_position_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj0_velocity_controller/joint: rh_LFJ0
 * /sh_rh_lfj0_velocity_controller/pid/d: 0
 * /sh_rh_lfj0_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_lfj0_velocity_controller/pid/i: 0
 * /sh_rh_lfj0_velocity_controller/pid/i_clamp: 1
 * /sh_rh_lfj0_velocity_controller/pid/max_force: 0
 * /sh_rh_lfj0_velocity_controller/pid/p: 0
 * /sh_rh_lfj0_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_lfj0_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj3_effort_controller/friction_deadband: 5
 * /sh_rh_lfj3_effort_controller/joint: rh_LFJ3
 * /sh_rh_lfj3_effort_controller/max_force: 600
 * /sh_rh_lfj3_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj3_mixed_position_velocity_controller/joint: rh_LFJ3
 * /sh_rh_lfj3_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_lfj3_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_lfj3_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_lfj3_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_lfj3_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_lfj3_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_lfj3_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_lfj3_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_lfj3_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj3_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_lfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_lfj3_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_lfj3_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_lfj3_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_lfj3_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_lfj3_position_controller/joint: rh_LFJ3
 * /sh_rh_lfj3_position_controller/pid/d: -250.0
 * /sh_rh_lfj3_position_controller/pid/deadband: 0.0
 * /sh_rh_lfj3_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_lfj3_position_controller/pid/i: 0.0
 * /sh_rh_lfj3_position_controller/pid/i_clamp: 0.0
 * /sh_rh_lfj3_position_controller/pid/max_force: 600.0
 * /sh_rh_lfj3_position_controller/pid/p: -7400.0
 * /sh_rh_lfj3_position_controller/pid/position_deadband: 0.002
 * /sh_rh_lfj3_position_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj3_velocity_controller/joint: rh_LFJ3
 * /sh_rh_lfj3_velocity_controller/pid/d: 0
 * /sh_rh_lfj3_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_lfj3_velocity_controller/pid/i: 0
 * /sh_rh_lfj3_velocity_controller/pid/i_clamp: 1
 * /sh_rh_lfj3_velocity_controller/pid/max_force: 0
 * /sh_rh_lfj3_velocity_controller/pid/p: 0
 * /sh_rh_lfj3_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_lfj3_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj4_effort_controller/friction_deadband: 5
 * /sh_rh_lfj4_effort_controller/joint: rh_LFJ4
 * /sh_rh_lfj4_effort_controller/max_force: 400
 * /sh_rh_lfj4_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj4_mixed_position_velocity_controller/joint: rh_LFJ4
 * /sh_rh_lfj4_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_lfj4_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_lfj4_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_lfj4_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_lfj4_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_lfj4_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_lfj4_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_lfj4_mixed_position_velocity_controller/position_pid/position_deadband: 0.003
 * /sh_rh_lfj4_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj4_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_lfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband: 5000.0
 * /sh_rh_lfj4_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_lfj4_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_lfj4_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_lfj4_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_lfj4_position_controller/joint: rh_LFJ4
 * /sh_rh_lfj4_position_controller/pid/d: 240.0
 * /sh_rh_lfj4_position_controller/pid/deadband: 0
 * /sh_rh_lfj4_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_lfj4_position_controller/pid/i: 0.0
 * /sh_rh_lfj4_position_controller/pid/i_clamp: 0.0
 * /sh_rh_lfj4_position_controller/pid/max_force: 350.0
 * /sh_rh_lfj4_position_controller/pid/p: 7400.0
 * /sh_rh_lfj4_position_controller/pid/position_deadband: 0.003
 * /sh_rh_lfj4_position_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj4_velocity_controller/joint: rh_LFJ4
 * /sh_rh_lfj4_velocity_controller/pid/d: 0
 * /sh_rh_lfj4_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_lfj4_velocity_controller/pid/i: 0
 * /sh_rh_lfj4_velocity_controller/pid/i_clamp: 1
 * /sh_rh_lfj4_velocity_controller/pid/max_force: 0
 * /sh_rh_lfj4_velocity_controller/pid/p: 0
 * /sh_rh_lfj4_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_lfj4_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj5_effort_controller/friction_deadband: 5
 * /sh_rh_lfj5_effort_controller/joint: rh_LFJ5
 * /sh_rh_lfj5_effort_controller/max_force: 500
 * /sh_rh_lfj5_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj5_mixed_position_velocity_controller/joint: rh_LFJ5
 * /sh_rh_lfj5_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_lfj5_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_lfj5_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_lfj5_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_lfj5_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_lfj5_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_lfj5_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_lfj5_mixed_position_velocity_controller/position_pid/position_deadband: 0.003
 * /sh_rh_lfj5_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj5_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_lfj5_mixed_position_velocity_controller/velocity_pid/friction_deadband: 5000.0
 * /sh_rh_lfj5_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_lfj5_mixed_position_velocity_controller/velocity_pid/i_clamp: 410.0
 * /sh_rh_lfj5_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_lfj5_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_lfj5_position_controller/joint: rh_LFJ5
 * /sh_rh_lfj5_position_controller/pid/d: 240.0
 * /sh_rh_lfj5_position_controller/pid/deadband: 0.0
 * /sh_rh_lfj5_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_lfj5_position_controller/pid/i: 0.0
 * /sh_rh_lfj5_position_controller/pid/i_clamp: 0.0
 * /sh_rh_lfj5_position_controller/pid/max_force: 450.0
 * /sh_rh_lfj5_position_controller/pid/p: 7200.0
 * /sh_rh_lfj5_position_controller/pid/position_deadband: 0.003
 * /sh_rh_lfj5_position_controller/type: sr_mechanism_cont...
 * /sh_rh_lfj5_velocity_controller/joint: rh_LFJ5
 * /sh_rh_lfj5_velocity_controller/pid/d: 0
 * /sh_rh_lfj5_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_lfj5_velocity_controller/pid/i: 0
 * /sh_rh_lfj5_velocity_controller/pid/i_clamp: 1
 * /sh_rh_lfj5_velocity_controller/pid/max_force: 0
 * /sh_rh_lfj5_velocity_controller/pid/p: 0
 * /sh_rh_lfj5_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_lfj5_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj0_effort_controller/friction_deadband: 5
 * /sh_rh_mfj0_effort_controller/joint: rh_MFJ0
 * /sh_rh_mfj0_effort_controller/max_force: 600
 * /sh_rh_mfj0_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj0_mixed_position_velocity_controller/joint: rh_MFJ0
 * /sh_rh_mfj0_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_mfj0_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_mfj0_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_mfj0_mixed_position_velocity_controller/position_pid/max_velocity: 3.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/position_pid/min_velocity: -3.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_mfj0_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj0_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_mfj0_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_mfj0_position_controller/joint: rh_MFJ0
 * /sh_rh_mfj0_position_controller/pid/d: 0.0
 * /sh_rh_mfj0_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_mfj0_position_controller/pid/i: 0.0
 * /sh_rh_mfj0_position_controller/pid/i_clamp: 0.0
 * /sh_rh_mfj0_position_controller/pid/max_force: 600.0
 * /sh_rh_mfj0_position_controller/pid/p: -4800.0
 * /sh_rh_mfj0_position_controller/pid/position_deadband: 0.002
 * /sh_rh_mfj0_position_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj0_velocity_controller/joint: rh_MFJ0
 * /sh_rh_mfj0_velocity_controller/pid/d: 0
 * /sh_rh_mfj0_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_mfj0_velocity_controller/pid/i: 0
 * /sh_rh_mfj0_velocity_controller/pid/i_clamp: 1
 * /sh_rh_mfj0_velocity_controller/pid/max_force: 0
 * /sh_rh_mfj0_velocity_controller/pid/p: 0
 * /sh_rh_mfj0_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_mfj0_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj3_effort_controller/friction_deadband: 5
 * /sh_rh_mfj3_effort_controller/joint: rh_MFJ3
 * /sh_rh_mfj3_effort_controller/max_force: 600
 * /sh_rh_mfj3_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj3_mixed_position_velocity_controller/joint: rh_MFJ3
 * /sh_rh_mfj3_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_mfj3_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_mfj3_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_mfj3_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_mfj3_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_mfj3_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_mfj3_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_mfj3_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_mfj3_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj3_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_mfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_mfj3_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_mfj3_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_mfj3_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_mfj3_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_mfj3_position_controller/joint: rh_MFJ3
 * /sh_rh_mfj3_position_controller/pid/d: 260.0
 * /sh_rh_mfj3_position_controller/pid/deadband: 0.0
 * /sh_rh_mfj3_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_mfj3_position_controller/pid/i: 0.0
 * /sh_rh_mfj3_position_controller/pid/i_clamp: 0.0
 * /sh_rh_mfj3_position_controller/pid/max_force: 600.0
 * /sh_rh_mfj3_position_controller/pid/p: 6800.0
 * /sh_rh_mfj3_position_controller/pid/position_deadband: 0.002
 * /sh_rh_mfj3_position_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj3_velocity_controller/joint: rh_MFJ3
 * /sh_rh_mfj3_velocity_controller/pid/d: 0
 * /sh_rh_mfj3_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_mfj3_velocity_controller/pid/i: 0
 * /sh_rh_mfj3_velocity_controller/pid/i_clamp: 1
 * /sh_rh_mfj3_velocity_controller/pid/max_force: 0
 * /sh_rh_mfj3_velocity_controller/pid/p: 0
 * /sh_rh_mfj3_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_mfj3_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj4_effort_controller/friction_deadband: 5
 * /sh_rh_mfj4_effort_controller/joint: rh_MFJ4
 * /sh_rh_mfj4_effort_controller/max_force: 400
 * /sh_rh_mfj4_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj4_mixed_position_velocity_controller/joint: rh_MFJ4
 * /sh_rh_mfj4_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_mfj4_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_mfj4_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_mfj4_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_mfj4_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_mfj4_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_mfj4_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_mfj4_mixed_position_velocity_controller/position_pid/position_deadband: 0.003
 * /sh_rh_mfj4_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj4_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_mfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband: 5000.0
 * /sh_rh_mfj4_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_mfj4_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_mfj4_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_mfj4_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_mfj4_position_controller/joint: rh_MFJ4
 * /sh_rh_mfj4_position_controller/pid/d: -230.0
 * /sh_rh_mfj4_position_controller/pid/deadband: 0
 * /sh_rh_mfj4_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_mfj4_position_controller/pid/i: 0.0
 * /sh_rh_mfj4_position_controller/pid/i_clamp: 0.0
 * /sh_rh_mfj4_position_controller/pid/max_force: 350.0
 * /sh_rh_mfj4_position_controller/pid/p: -7300.0
 * /sh_rh_mfj4_position_controller/pid/position_deadband: 0.003
 * /sh_rh_mfj4_position_controller/type: sr_mechanism_cont...
 * /sh_rh_mfj4_velocity_controller/joint: rh_MFJ4
 * /sh_rh_mfj4_velocity_controller/pid/d: 0
 * /sh_rh_mfj4_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_mfj4_velocity_controller/pid/i: -0.5
 * /sh_rh_mfj4_velocity_controller/pid/i_clamp: 1
 * /sh_rh_mfj4_velocity_controller/pid/max_force: 0
 * /sh_rh_mfj4_velocity_controller/pid/p: 0.0
 * /sh_rh_mfj4_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_mfj4_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj0_effort_controller/friction_deadband: 5
 * /sh_rh_rfj0_effort_controller/joint: rh_RFJ0
 * /sh_rh_rfj0_effort_controller/max_force: 600
 * /sh_rh_rfj0_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj0_mixed_position_velocity_controller/joint: rh_RFJ0
 * /sh_rh_rfj0_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_rfj0_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_rfj0_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_rfj0_mixed_position_velocity_controller/position_pid/max_velocity: 3.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/position_pid/min_velocity: -3.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_rfj0_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj0_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_rfj0_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_rfj0_position_controller/joint: rh_RFJ0
 * /sh_rh_rfj0_position_controller/pid/d: 0.0
 * /sh_rh_rfj0_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_rfj0_position_controller/pid/i: 0.0
 * /sh_rh_rfj0_position_controller/pid/i_clamp: 0.0
 * /sh_rh_rfj0_position_controller/pid/max_force: 600.0
 * /sh_rh_rfj0_position_controller/pid/p: -4600.0
 * /sh_rh_rfj0_position_controller/pid/position_deadband: 0.002
 * /sh_rh_rfj0_position_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj0_velocity_controller/joint: rh_RFJ0
 * /sh_rh_rfj0_velocity_controller/pid/d: 0
 * /sh_rh_rfj0_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_rfj0_velocity_controller/pid/i: 0
 * /sh_rh_rfj0_velocity_controller/pid/i_clamp: 1
 * /sh_rh_rfj0_velocity_controller/pid/max_force: 0
 * /sh_rh_rfj0_velocity_controller/pid/p: 0
 * /sh_rh_rfj0_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_rfj0_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj3_effort_controller/friction_deadband: 5
 * /sh_rh_rfj3_effort_controller/joint: rh_RFJ3
 * /sh_rh_rfj3_effort_controller/max_force: 600
 * /sh_rh_rfj3_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj3_mixed_position_velocity_controller/joint: rh_RFJ3
 * /sh_rh_rfj3_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_rfj3_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_rfj3_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_rfj3_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_rfj3_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_rfj3_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_rfj3_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_rfj3_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_rfj3_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj3_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_rfj3_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_rfj3_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_rfj3_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_rfj3_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_rfj3_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_rfj3_position_controller/joint: rh_RFJ3
 * /sh_rh_rfj3_position_controller/pid/d: 260.0
 * /sh_rh_rfj3_position_controller/pid/deadband: 0.0
 * /sh_rh_rfj3_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_rfj3_position_controller/pid/i: 0.0
 * /sh_rh_rfj3_position_controller/pid/i_clamp: 0.0
 * /sh_rh_rfj3_position_controller/pid/max_force: 600.0
 * /sh_rh_rfj3_position_controller/pid/p: 7100.0
 * /sh_rh_rfj3_position_controller/pid/position_deadband: 0.002
 * /sh_rh_rfj3_position_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj3_velocity_controller/joint: rh_RFJ3
 * /sh_rh_rfj3_velocity_controller/pid/d: 0
 * /sh_rh_rfj3_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_rfj3_velocity_controller/pid/i: 0
 * /sh_rh_rfj3_velocity_controller/pid/i_clamp: 1
 * /sh_rh_rfj3_velocity_controller/pid/max_force: 0
 * /sh_rh_rfj3_velocity_controller/pid/p: 0
 * /sh_rh_rfj3_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_rfj3_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj4_effort_controller/friction_deadband: 5
 * /sh_rh_rfj4_effort_controller/joint: rh_RFJ4
 * /sh_rh_rfj4_effort_controller/max_force: 400
 * /sh_rh_rfj4_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj4_mixed_position_velocity_controller/joint: rh_RFJ4
 * /sh_rh_rfj4_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_rfj4_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_rfj4_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_rfj4_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_rfj4_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_rfj4_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_rfj4_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_rfj4_mixed_position_velocity_controller/position_pid/position_deadband: 0.003
 * /sh_rh_rfj4_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj4_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_rfj4_mixed_position_velocity_controller/velocity_pid/friction_deadband: 5000.0
 * /sh_rh_rfj4_mixed_position_velocity_controller/velocity_pid/i: -210.0
 * /sh_rh_rfj4_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_rfj4_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_rfj4_mixed_position_velocity_controller/velocity_pid/p: -150.0
 * /sh_rh_rfj4_position_controller/joint: rh_RFJ4
 * /sh_rh_rfj4_position_controller/pid/d: -270.0
 * /sh_rh_rfj4_position_controller/pid/deadband: 0.0
 * /sh_rh_rfj4_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_rfj4_position_controller/pid/i: 0.0
 * /sh_rh_rfj4_position_controller/pid/i_clamp: 0.0
 * /sh_rh_rfj4_position_controller/pid/max_force: 350.0
 * /sh_rh_rfj4_position_controller/pid/p: -7300.0
 * /sh_rh_rfj4_position_controller/pid/position_deadband: 0.003
 * /sh_rh_rfj4_position_controller/type: sr_mechanism_cont...
 * /sh_rh_rfj4_velocity_controller/joint: rh_RFJ4
 * /sh_rh_rfj4_velocity_controller/pid/d: 0
 * /sh_rh_rfj4_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_rfj4_velocity_controller/pid/i: 0
 * /sh_rh_rfj4_velocity_controller/pid/i_clamp: 1
 * /sh_rh_rfj4_velocity_controller/pid/max_force: 0
 * /sh_rh_rfj4_velocity_controller/pid/p: 0
 * /sh_rh_rfj4_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_rfj4_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj1_effort_controller/friction_deadband: 5
 * /sh_rh_thj1_effort_controller/joint: rh_THJ1
 * /sh_rh_thj1_effort_controller/max_force: 500
 * /sh_rh_thj1_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_thj1_mixed_position_velocity_controller/joint: rh_THJ1
 * /sh_rh_thj1_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_thj1_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_thj1_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_thj1_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_thj1_mixed_position_velocity_controller/position_pid/max_velocity: 3.0
 * /sh_rh_thj1_mixed_position_velocity_controller/position_pid/min_velocity: -3.0
 * /sh_rh_thj1_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_thj1_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_thj1_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj1_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_thj1_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_thj1_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_thj1_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_thj1_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_thj1_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_thj1_position_controller/joint: rh_THJ1
 * /sh_rh_thj1_position_controller/pid/d: 280.0
 * /sh_rh_thj1_position_controller/pid/deadband: 0.0
 * /sh_rh_thj1_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_thj1_position_controller/pid/i: 0.0
 * /sh_rh_thj1_position_controller/pid/i_clamp: 0.0
 * /sh_rh_thj1_position_controller/pid/max_force: 500.0
 * /sh_rh_thj1_position_controller/pid/p: 6300.0
 * /sh_rh_thj1_position_controller/pid/position_deadband: 0.002
 * /sh_rh_thj1_position_controller/type: sr_mechanism_cont...
 * /sh_rh_thj1_velocity_controller/joint: rh_THJ1
 * /sh_rh_thj1_velocity_controller/pid/d: 0
 * /sh_rh_thj1_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_thj1_velocity_controller/pid/i: 0
 * /sh_rh_thj1_velocity_controller/pid/i_clamp: 1
 * /sh_rh_thj1_velocity_controller/pid/max_force: 0
 * /sh_rh_thj1_velocity_controller/pid/p: 0
 * /sh_rh_thj1_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_thj1_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj2_effort_controller/friction_deadband: 5
 * /sh_rh_thj2_effort_controller/joint: rh_THJ2
 * /sh_rh_thj2_effort_controller/max_force: 500
 * /sh_rh_thj2_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_thj2_mixed_position_velocity_controller/joint: rh_THJ2
 * /sh_rh_thj2_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_thj2_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_thj2_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_thj2_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_thj2_mixed_position_velocity_controller/position_pid/max_velocity: 3.0
 * /sh_rh_thj2_mixed_position_velocity_controller/position_pid/min_velocity: -3.0
 * /sh_rh_thj2_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_thj2_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_thj2_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj2_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_thj2_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_thj2_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_thj2_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_thj2_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_thj2_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_thj2_position_controller/joint: rh_THJ2
 * /sh_rh_thj2_position_controller/pid/d: 260.0
 * /sh_rh_thj2_position_controller/pid/deadband: 0.0
 * /sh_rh_thj2_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_thj2_position_controller/pid/i: 0.0
 * /sh_rh_thj2_position_controller/pid/i_clamp: 0.0
 * /sh_rh_thj2_position_controller/pid/max_force: 500.0
 * /sh_rh_thj2_position_controller/pid/p: 6700.0
 * /sh_rh_thj2_position_controller/pid/position_deadband: 0.002
 * /sh_rh_thj2_position_controller/type: sr_mechanism_cont...
 * /sh_rh_thj2_velocity_controller/joint: rh_THJ2
 * /sh_rh_thj2_velocity_controller/pid/d: 0
 * /sh_rh_thj2_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_thj2_velocity_controller/pid/i: 0
 * /sh_rh_thj2_velocity_controller/pid/i_clamp: 1
 * /sh_rh_thj2_velocity_controller/pid/max_force: 0
 * /sh_rh_thj2_velocity_controller/pid/p: 0
 * /sh_rh_thj2_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_thj2_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj3_effort_controller/friction_deadband: 5
 * /sh_rh_thj3_effort_controller/joint: rh_THJ3
 * /sh_rh_thj3_effort_controller/max_force: 400
 * /sh_rh_thj3_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_thj3_mixed_position_velocity_controller/joint: rh_THJ3
 * /sh_rh_thj3_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_thj3_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_thj3_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_thj3_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_thj3_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_thj3_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_thj3_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_thj3_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_thj3_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj3_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_thj3_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_thj3_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_thj3_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_thj3_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_thj3_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_thj3_position_controller/joint: rh_THJ3
 * /sh_rh_thj3_position_controller/pid/d: -260.0
 * /sh_rh_thj3_position_controller/pid/deadband: 0.0
 * /sh_rh_thj3_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_thj3_position_controller/pid/i: 0.0
 * /sh_rh_thj3_position_controller/pid/i_clamp: 0.0
 * /sh_rh_thj3_position_controller/pid/max_force: 350.0
 * /sh_rh_thj3_position_controller/pid/p: -7100.0
 * /sh_rh_thj3_position_controller/pid/position_deadband: 0.003
 * /sh_rh_thj3_position_controller/type: sr_mechanism_cont...
 * /sh_rh_thj3_velocity_controller/joint: rh_THJ3
 * /sh_rh_thj3_velocity_controller/pid/d: 0
 * /sh_rh_thj3_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_thj3_velocity_controller/pid/i: 0
 * /sh_rh_thj3_velocity_controller/pid/i_clamp: 1
 * /sh_rh_thj3_velocity_controller/pid/max_force: 0
 * /sh_rh_thj3_velocity_controller/pid/p: 0
 * /sh_rh_thj3_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_thj3_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj4_effort_controller/friction_deadband: 5
 * /sh_rh_thj4_effort_controller/joint: rh_THJ4
 * /sh_rh_thj4_effort_controller/max_force: 400
 * /sh_rh_thj4_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_thj4_mixed_position_velocity_controller/joint: rh_THJ4
 * /sh_rh_thj4_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_thj4_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_thj4_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_thj4_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_thj4_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_thj4_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_thj4_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_thj4_mixed_position_velocity_controller/position_pid/position_deadband: 0.003
 * /sh_rh_thj4_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj4_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_thj4_mixed_position_velocity_controller/velocity_pid/friction_deadband: 5000.0
 * /sh_rh_thj4_mixed_position_velocity_controller/velocity_pid/i: -260.0
 * /sh_rh_thj4_mixed_position_velocity_controller/velocity_pid/i_clamp: 180.0
 * /sh_rh_thj4_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_thj4_mixed_position_velocity_controller/velocity_pid/p: -210.0
 * /sh_rh_thj4_position_controller/joint: rh_THJ4
 * /sh_rh_thj4_position_controller/pid/d: 300.0
 * /sh_rh_thj4_position_controller/pid/deadband: 0.0
 * /sh_rh_thj4_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_thj4_position_controller/pid/i: 0.0
 * /sh_rh_thj4_position_controller/pid/i_clamp: 0.0
 * /sh_rh_thj4_position_controller/pid/max_force: 600.0
 * /sh_rh_thj4_position_controller/pid/p: 7500.0
 * /sh_rh_thj4_position_controller/pid/position_deadband: 0.003
 * /sh_rh_thj4_position_controller/type: sr_mechanism_cont...
 * /sh_rh_thj4_velocity_controller/joint: rh_THJ4
 * /sh_rh_thj4_velocity_controller/pid/d: 0
 * /sh_rh_thj4_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_thj4_velocity_controller/pid/i: 0
 * /sh_rh_thj4_velocity_controller/pid/i_clamp: 1
 * /sh_rh_thj4_velocity_controller/pid/max_force: 0
 * /sh_rh_thj4_velocity_controller/pid/p: 0
 * /sh_rh_thj4_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_thj4_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj5_effort_controller/friction_deadband: 5
 * /sh_rh_thj5_effort_controller/joint: rh_THJ5
 * /sh_rh_thj5_effort_controller/max_force: 400
 * /sh_rh_thj5_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_thj5_mixed_position_velocity_controller/joint: rh_THJ5
 * /sh_rh_thj5_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_thj5_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_thj5_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_thj5_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_thj5_mixed_position_velocity_controller/position_pid/max_velocity: 1.5
 * /sh_rh_thj5_mixed_position_velocity_controller/position_pid/min_velocity: -1.5
 * /sh_rh_thj5_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_thj5_mixed_position_velocity_controller/position_pid/position_deadband: 0.003
 * /sh_rh_thj5_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_thj5_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_thj5_mixed_position_velocity_controller/velocity_pid/friction_deadband: 5000.0
 * /sh_rh_thj5_mixed_position_velocity_controller/velocity_pid/i: 210.0
 * /sh_rh_thj5_mixed_position_velocity_controller/velocity_pid/i_clamp: 160.0
 * /sh_rh_thj5_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_thj5_mixed_position_velocity_controller/velocity_pid/p: 150.0
 * /sh_rh_thj5_position_controller/joint: rh_THJ5
 * /sh_rh_thj5_position_controller/pid/d: 300.0
 * /sh_rh_thj5_position_controller/pid/deadband: 0.0
 * /sh_rh_thj5_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_thj5_position_controller/pid/i: 0.0
 * /sh_rh_thj5_position_controller/pid/i_clamp: 0.0
 * /sh_rh_thj5_position_controller/pid/max_force: 600.0
 * /sh_rh_thj5_position_controller/pid/p: 7100.0
 * /sh_rh_thj5_position_controller/pid/position_deadband: 0.003
 * /sh_rh_thj5_position_controller/type: sr_mechanism_cont...
 * /sh_rh_thj5_velocity_controller/joint: rh_THJ5
 * /sh_rh_thj5_velocity_controller/pid/d: 0
 * /sh_rh_thj5_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_thj5_velocity_controller/pid/i: 0
 * /sh_rh_thj5_velocity_controller/pid/i_clamp: 1
 * /sh_rh_thj5_velocity_controller/pid/max_force: 0
 * /sh_rh_thj5_velocity_controller/pid/p: 0
 * /sh_rh_thj5_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_thj5_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj1_effort_controller/friction_deadband: 5
 * /sh_rh_wrj1_effort_controller/joint: rh_WRJ1
 * /sh_rh_wrj1_effort_controller/max_force: 600
 * /sh_rh_wrj1_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj1_mixed_position_velocity_controller/joint: rh_WRJ1
 * /sh_rh_wrj1_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_wrj1_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_wrj1_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_wrj1_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_wrj1_mixed_position_velocity_controller/position_pid/max_velocity: 0.5
 * /sh_rh_wrj1_mixed_position_velocity_controller/position_pid/min_velocity: -0.5
 * /sh_rh_wrj1_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_wrj1_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_wrj1_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj1_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_wrj1_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_wrj1_mixed_position_velocity_controller/velocity_pid/i: 460.0
 * /sh_rh_wrj1_mixed_position_velocity_controller/velocity_pid/i_clamp: 270.0
 * /sh_rh_wrj1_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_wrj1_mixed_position_velocity_controller/velocity_pid/p: 320.0
 * /sh_rh_wrj1_position_controller/joint: rh_WRJ1
 * /sh_rh_wrj1_position_controller/pid/d: 220.0
 * /sh_rh_wrj1_position_controller/pid/deadband: 0.0
 * /sh_rh_wrj1_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_wrj1_position_controller/pid/i: 0.0
 * /sh_rh_wrj1_position_controller/pid/i_clamp: 0.0
 * /sh_rh_wrj1_position_controller/pid/max_force: 600.0
 * /sh_rh_wrj1_position_controller/pid/p: 8700.0
 * /sh_rh_wrj1_position_controller/pid/position_deadband: 0.003
 * /sh_rh_wrj1_position_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj1_velocity_controller/joint: rh_WRJ1
 * /sh_rh_wrj1_velocity_controller/pid/d: 0
 * /sh_rh_wrj1_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_wrj1_velocity_controller/pid/i: 0
 * /sh_rh_wrj1_velocity_controller/pid/i_clamp: 1
 * /sh_rh_wrj1_velocity_controller/pid/max_force: 0
 * /sh_rh_wrj1_velocity_controller/pid/p: 0
 * /sh_rh_wrj1_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_wrj1_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj2_effort_controller/friction_deadband: 5
 * /sh_rh_wrj2_effort_controller/joint: rh_WRJ2
 * /sh_rh_wrj2_effort_controller/max_force: 500
 * /sh_rh_wrj2_effort_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj2_mixed_position_velocity_controller/joint: rh_WRJ2
 * /sh_rh_wrj2_mixed_position_velocity_controller/motor_min_force_threshold: 40
 * /sh_rh_wrj2_mixed_position_velocity_controller/position_pid/d: 0.0
 * /sh_rh_wrj2_mixed_position_velocity_controller/position_pid/i: -1.5
 * /sh_rh_wrj2_mixed_position_velocity_controller/position_pid/i_clamp: 0.3
 * /sh_rh_wrj2_mixed_position_velocity_controller/position_pid/max_velocity: 0.5
 * /sh_rh_wrj2_mixed_position_velocity_controller/position_pid/min_velocity: -0.5
 * /sh_rh_wrj2_mixed_position_velocity_controller/position_pid/p: -4.0
 * /sh_rh_wrj2_mixed_position_velocity_controller/position_pid/position_deadband: 0.002
 * /sh_rh_wrj2_mixed_position_velocity_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj2_mixed_position_velocity_controller/velocity_pid/d: 0.0
 * /sh_rh_wrj2_mixed_position_velocity_controller/velocity_pid/friction_deadband: 100.0
 * /sh_rh_wrj2_mixed_position_velocity_controller/velocity_pid/i: -280.0
 * /sh_rh_wrj2_mixed_position_velocity_controller/velocity_pid/i_clamp: 190.0
 * /sh_rh_wrj2_mixed_position_velocity_controller/velocity_pid/max_force: 0.0
 * /sh_rh_wrj2_mixed_position_velocity_controller/velocity_pid/p: -230.0
 * /sh_rh_wrj2_position_controller/joint: rh_WRJ2
 * /sh_rh_wrj2_position_controller/pid/d: -100.0
 * /sh_rh_wrj2_position_controller/pid/deadband: 0.0
 * /sh_rh_wrj2_position_controller/pid/friction_deadband: 2000.0
 * /sh_rh_wrj2_position_controller/pid/i: 0.0
 * /sh_rh_wrj2_position_controller/pid/i_clamp: 0.0
 * /sh_rh_wrj2_position_controller/pid/max_force: 600.0
 * /sh_rh_wrj2_position_controller/pid/p: -10000.0
 * /sh_rh_wrj2_position_controller/pid/position_deadband: 0.003
 * /sh_rh_wrj2_position_controller/type: sr_mechanism_cont...
 * /sh_rh_wrj2_velocity_controller/joint: rh_WRJ2
 * /sh_rh_wrj2_velocity_controller/pid/d: 0
 * /sh_rh_wrj2_velocity_controller/pid/friction_deadband: 5
 * /sh_rh_wrj2_velocity_controller/pid/i: 0
 * /sh_rh_wrj2_velocity_controller/pid/i_clamp: 1
 * /sh_rh_wrj2_velocity_controller/pid/max_force: 0
 * /sh_rh_wrj2_velocity_controller/pid/p: 0
 * /sh_rh_wrj2_velocity_controller/pid/velocity_deadband: 0.015
 * /sh_rh_wrj2_velocity_controller/type: sr_mechanism_cont...
 * /sr_friction_map: []
 * /sr_rh_tactile_sensor_controller/prefix: rh
 * /sr_rh_tactile_sensor_controller/publish_rate: 100
 * /sr_rh_tactile_sensor_controller/type: sr_tactile_sensor...
 * /use_sim_time: False
 * /warehouse_exec: mongod
 * /warehouse_host: localhost
 * /warehouse_port: 33829

NODES
  /robot_description_kinematics/
    load_kinematics (sr_moveit_hand_config/generate_load_moveit_config.py)
  /robot_description_planning/
    load_joint_limits (sr_moveit_hand_config/generate_load_moveit_config.py)
  /
    bag_rotate (sr_ethercat_hand_config/bag_rotate.py)
    calibrate_sr_edc (sr_utilities/calibrate_hand_finder.py)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    generate_hand_srdf (sr_moveit_hand_config/generate_hand_srdf.py)
    joint_0_pub (sr_utilities/joint_0_publisher.py)
    joint_state_controller_spawner (controller_manager/spawner)
    mongo_wrapper_ros_shadow_testing_4501_4482490486701645035 (warehouse_ros/mongo_wrapper_ros.py)
    moveit_warehouse_services (moveit_ros_warehouse/moveit_warehouse_services)
    param_dump (sr_ethercat_hand_config/record_params.py)
    realtime_loop (ros_ethercat_loop/ros_ethercat_loop)
    record (rosbag/record)
    rh_trajectory_controller (sr_utilities/trajectory_controller_spawner.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    sr_rh_tactile_sensor_controller_spawner (controller_manager/spawner)
    teach_mode_node (sr_robot_launch/teach_mode_node)
    timed_roslaunch (sr_moveit_hand_config/timed_roslaunch.sh)
    timed_roslaunch_rviz (sr_multi_moveit_config/timed_roslaunch.sh)
    virtual_joint_broadcaster (sr_moveit_hand_config/virtual_joint_broadcaster.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[record-1]: started with pid [4522]
[ERROR] [1513620227.167221192]: Error reading options: unrecognised option '--max-splits=6'
process[bag_rotate-2]: started with pid [4523]
process[param_dump-3]: started with pid [4524]
process[joint_0_pub-4]: started with pid [4525]
process[realtime_loop-5]: started with pid [4526]
process[calibrate_sr_edc-6]: started with pid [4528]
process[diagnostic_aggregator-7]: started with pid [4530]
[record-1] process has died [pid 4522, exit code 1, cmd /opt/ros/indigo/lib/rosbag/record -o ./sr_rhand --lz4 --split --max-splits=6 --duration 10m -e .*(controller|debug_etherCAT_data).* /joint_states /tf /tf_static /rosout /diagnostics /mechanism_statistics __name:=record __log:=/home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/record-1.log].
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/record-1*.log
process[joint_state_controller_spawner-8]: started with pid [4531]
process[robot_state_publisher-9]: started with pid [4532]
process[sr_rh_tactile_sensor_controller_spawner-10]: started with pid [4539]
process[teach_mode_node-11]: started with pid [4545]
process[virtual_joint_broadcaster-12]: started with pid [4549]
process[generate_hand_srdf-13]: started with pid [4552]
process[robot_description_planning/load_joint_limits-14]: started with pid [4561]
process[robot_description_kinematics/load_kinematics-15]: started with pid [4565]
process[timed_roslaunch-16]: started with pid [4571]
process[timed_roslaunch_rviz-17]: started with pid [4577]
process[mongo_wrapper_ros_shadow_testing_4501_4482490486701645035-18]: started with pid [4585]
process[moveit_warehouse_services-19]: started with pid [4587]
process[rh_trajectory_controller-20]: started with pid [4590]
[ INFO] [1513620228.013638540]: Connecting to warehouse on localhost:33829
[ INFO] [1513620228.169288160]: Previously stored robot states:
[ INFO] [1513620228.169367865]:  * FF TH touch
[ INFO] [1513620228.169463651]:  * LF TH touch return
[ INFO] [1513620228.169513791]:  * LF TH touch1
[ INFO] [1513620228.169554718]:  * MF TH touch approach
[ INFO] [1513620228.169597092]:  * MF TH touch approach 1
[ INFO] [1513620228.169635343]:  * RF TH touch 1
[ INFO] [1513620228.169668474]:  * RF TH touch approach
[ INFO] [1513620228.169694877]:  * RF TH touch1
[ INFO] [1513620228.169719307]:  * default
[ INFO] [1513620228.169741808]:  * lf th touch 001
[ INFO] [1513620228.169766081]:  * luke demo 1
[ INFO] [1513620228.169790669]:  * luke pose 1
[ INFO] [1513620228.169815959]:  * ok
[ INFO] [1513620228.169844529]:  * r pose 1
[ INFO] [1513620228.169869555]:  * r pose 2
[ INFO] [1513620228.169890912]:  * r pose 3
[ INFO] [1513620228.169910475]:  * sherrine pose 1
[ INFO] [1513620228.169930122]:  * tri grip
[ INFO] [1513620228.169953941]:  * tri grip1
[ INFO] [1513620228.169977416]:  * tri grip2
[ INFO] [1513620228.170010296]:  * v
[ INFO] [1513620228.170030636]:  * wrist back
[ INFO] [1513620228.170050858]:  * wrist forward
[ WARN] [1513620228.622656326]: Using device 'SRBridge - Bridge EtherCAT between palm (sensors data) EtherCAT and Motor Control EtherCAT' with product code 0
[INFO] [WallTime: 1513620228.668424] waiting for the controller manager
[ INFO] [1513620228.881896975]: Shadow Bridge configure -  0 @ 0
[ WARN] [1513620228.882450204]: Using device 'SR06 etherCAT driver' with product code 6
[ INFO] [1513620228.883098550]: Trying to read mapping for: /hand/mapping/1818
Material has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor texture[ INFO] [1513620228.924730876]: Trying to read joint_prefix for: /hand/joint_prefix/1818
Material has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor texture[ INFO] [1513620228.953176717]: First FMMU (command) : start_address : 0x00010000 ; size :  70 bytes ; phy addr : 0x00001000
[ INFO] [1513620228.953282343]: Second FMMU (status) : start_address : 0x00010046 ; size : 232 bytes ; phy addr : 0x00001046
[ INFO] [1513620228.953402684]: status_size_ : 232 ; command_size_ : 70
[ INFO] [1513620228.953446169]: Finished constructing the SR06 driver
Material has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collision[INFO] [WallTime: 1513620228.977903] Found prefix:rh_
[ INFO] [1513620229.078471206]: bridge port type: EBUS
[INFO] [WallTime: 1513620229.156772] File loaded /home/hand/projects/shadow_robot/base/src/sr_interface/sr_moveit_hand_config/config/shadowhands_prefix.srdf.xacro
Material has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor texture[INFO] [WallTime: 1513620229.517679] Controller Spawner: Waiting for service controller_manager/load_controller
Material has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collisionUnhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[INFO] [WallTime: 1513620229.906463] Controller Spawner: Waiting for service controller_manager/load_controller
[virtual_joint_broadcaster-12] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/virtual_joint_broadcaster-12*.log
[ERROR] [WallTime: 1513620230.138301] Mongo process exited with error code 100
... logging to /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/roslaunch-shadow-testing-4858.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

... logging to /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/roslaunch-shadow-testing-4860.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

[mongo_wrapper_ros_shadow_testing_4501_4482490486701645035-18] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/mongo_wrapper_ros_shadow_testing_4501_4482490486701645035-18*.log
[INFO] [WallTime: 1513620231.142630] Successfully loaded kinematics params
started roslaunch server http://shadow-testing:35097/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /rviz_shadow_testing_4860_1697312707503615471/
    load_kinematics (sr_moveit_hand_config/generate_load_moveit_config.py)
  /
    rviz_shadow_testing_4860_1697312707503615471 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
[robot_description_kinematics/load_kinematics-15] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/robot_description_kinematics-load_kinematics-15*.log
[INFO] [WallTime: 1513620232.469351] Successfully loaded joint_limits params
process[rviz_shadow_testing_4860_1697312707503615471-1]: started with pid [5256]
process[rviz_shadow_testing_4860_1697312707503615471/load_kinematics-2]: started with pid [5258]
[INFO] [WallTime: 1513620232.694845] Loading SRDF on parameter server
[ INFO] [1513620232.735673102]: Using PWM control.
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[ INFO] [1513620232.999171932]: rviz version 1.11.15
[ INFO] [1513620233.001712601]: compiled against Qt version 4.8.6
[ INFO] [1513620233.001778626]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1513620233.047739072]: ETHERCAT_STATUS_DATA_SIZE      =  220 bytes
[ INFO] [1513620233.047875101]: ETHERCAT_COMMAND_DATA_SIZE     =   58 bytes
[ INFO] [1513620233.047919583]: ETHERCAT_CAN_BRIDGE_DATA_SIZE  =   12 bytes
[generate_hand_srdf-13] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/generate_hand_srdf-13*.log
[ INFO] [1513620233.141079449]: Added Ethernet port eth0
Material has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collision[robot_description_planning/load_joint_limits-14] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/robot_description_planning-load_joint_limits-14*.log
Scalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collision[ INFO] [1513620233.219786164]: No init command. Switching to operation
[ INFO] [1513620233.233663151]: Biotac tactiles initialized
[INFO] [WallTime: 1513620233.242097] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1513620233.254941] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1513620233.266283] Loading controller: sr_rh_tactile_sensor_controller
[INFO] [WallTime: 1513620233.340971] OK the controller manager is ready
Material has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collision[INFO] [WallTime: 1513620233.399750] Controller Spawner: Loaded controllers: sr_rh_tactile_sensor_controller
Material has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor texture[INFO] [WallTime: 1513620233.408481] Started controllers: sr_rh_tactile_sensor_controller
Material has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collision[ INFO] [1513620233.484577039]: All motors were initialized.
[INFO] [WallTime: 1513620233.509253] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1513620233.531850] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1513620233.547085] Loading controller: joint_state_controller
[ INFO] [1513620233.579758407]: Stereo is NOT SUPPORTED
[ INFO] [1513620233.580061738]: OpenGl version: 3 (GLSL 1.3).
[INFO] [WallTime: 1513620233.790720] Successfully loaded kinematics params
[INFO] [WallTime: 1513620233.792128] Controller Spawner: Loaded controllers: joint_state_controller
started roslaunch server http://shadow-testing:41955/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 2.5
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: world
 * /move_group/octomap_resolution: 0.005
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.25
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /move_group/
    load_controllers (sr_moveit_hand_config/generate_load_moveit_config.py)
    load_kinematics (sr_moveit_hand_config/generate_load_moveit_config.py)
    load_ompl_planning (sr_moveit_hand_config/generate_load_moveit_config.py)
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
[INFO] [WallTime: 1513620233.936097] Started controllers: joint_state_controller
[rviz_shadow_testing_4860_1697312707503615471/load_kinematics-2] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/rviz_shadow_testing_4860_1697312707503615471-load_kinematics-2*.log
process[move_group/load_ompl_planning-1]: started with pid [5644]
process[move_group/load_kinematics-2]: started with pid [5652]
process[move_group/load_controllers-3]: started with pid [5655]
process[move_group-4]: started with pid [5708]
Launched: cal_sh_rh_ffj0, cal_sh_rh_ffj3, cal_sh_rh_ffj4, cal_sh_rh_mfj0, cal_sh_rh_mfj3, cal_sh_rh_mfj4, cal_sh_rh_rfj0, cal_sh_rh_rfj3, cal_sh_rh_rfj4, cal_sh_rh_lfj0, cal_sh_rh_lfj3, cal_sh_rh_lfj4, cal_sh_rh_lfj5, cal_sh_rh_thj1, cal_sh_rh_thj2, cal_sh_rh_thj3, cal_sh_rh_thj4, cal_sh_rh_thj5, cal_sh_rh_wrj1, cal_sh_rh_wrj2
[ INFO] [1513620235.636148212]:  resetting FFJ0 (0)
[ INFO] [1513620235.644426624]:  resetting FFJ3 (1)
[ INFO] [1513620235.651594514]:  resetting FFJ4 (2)
[ INFO] [1513620235.660244760]:  resetting MFJ0 (3)
[ INFO] [1513620235.670504673]:  resetting MFJ3 (11)
[ INFO] [1513620235.679545403]:  resetting MFJ4 (13)
[ INFO] [1513620235.693708555]:  resetting RFJ0 (15)
[ INFO] [1513620235.714612656]:  resetting RFJ3 (16)
[ INFO] [1513620235.757402644]:  resetting RFJ4 (17)
[ INFO] [1513620235.820710848]:  resetting LFJ0 (12)
[ INFO] [1513620235.853291499]:  resetting LFJ3 (10)
[ INFO] [1513620235.872192833]: Loading robot model 'shadowhand_motor'...
[ INFO] [1513620235.872387556]: No root joint specified. Assuming fixed joint
[ INFO] [1513620235.907725834]:  resetting LFJ4 (14)
Material has neither a color nor textureScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collisionScalar element defined multiple times: collision[INFO] [WallTime: 1513620235.918110] Successfully loaded real_controllers params
Material has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureMaterial has neither a color nor textureMaterial has neither a color nor texture[ INFO] [1513620235.985777522]:  resetting LFJ5 (4)
Material has neither a color nor textureMaterial has neither a color nor textureScalar element defined multiple times: collisionScalar element defined multiple times: collisionUnknown tag: secondJointMaterial has neither a color nor textureScalar element defined multiple times: collision[ INFO] [1513620236.015733438]:  resetting THJ1 (6)
[ INFO] [1513620236.037282807]:  resetting THJ2 (5)
[ INFO] [1513620236.053156690]:  resetting THJ3 (7)
[ INFO] [1513620236.093946070]:  resetting THJ4 (9)
[ INFO] [1513620236.127395220]:  resetting THJ5 (19)
[ INFO] [1513620236.140025398]:  resetting WRJ1 (18)
Waiting for: cal_sh_rh_ffj0, cal_sh_rh_ffj3, cal_sh_rh_ffj4, cal_sh_rh_mfj0, cal_sh_rh_mfj3, cal_sh_rh_mfj4, cal_sh_rh_rfj0, cal_sh_rh_rfj3, cal_sh_rh_rfj4, cal_sh_rh_lfj0, cal_sh_rh_lfj3, cal_sh_rh_lfj4, cal_sh_rh_lfj5, cal_sh_rh_thj1, cal_sh_rh_thj2, cal_sh_rh_thj3, cal_sh_rh_thj4, cal_sh_rh_thj5, cal_sh_rh_wrj1, cal_sh_rh_wrj2
[ INFO] [1513620236.151553653]:  resetting WRJ2 (8)
[INFO] [WallTime: 1513620236.571519] Successfully loaded ompl_planning params
[move_group/load_controllers-3] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/move_group-load_controllers-3*.log
[move_group/load_ompl_planning-1] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/move_group-load_ompl_planning-1*.log
[move_group/load_kinematics-2] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/move_group-load_kinematics-2*.log
Calibration complete
[ INFO] [1513620237.151122955]: IK Using joint rh_wrist -0.523599 0.174533
[ INFO] [1513620237.151432926]: IK Using joint rh_palm -0.698132 0.488692
[ INFO] [1513620237.151736418]: Looking in private handle: /move_group for param name: rh_wrist/position_only_ik
[ INFO] [1513620237.163478631]: Looking in private handle: /move_group for param name: rh_wrist/solve_type
[ INFO] [1513620237.165230516]: Using solve type Speed
[ INFO] [1513620237.234812143]: Started IK for rh_fftip
[ INFO] [1513620237.294133646]: Started IK for rh_mftip
[ INFO] [1513620237.338190272]: Started IK for rh_rftip
[ INFO] [1513620237.421825034]: Started IK for rh_lftip
[ INFO] [1513620237.469534130]: Started IK for rh_thtip
[ INFO] [1513620237.724411383]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1513620237.744020445]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1513620237.744161262]: Starting scene monitor
[ INFO] [1513620237.760756517]: Listening to '/planning_scene'
[ INFO] [1513620237.760821656]: Starting world geometry monitor
[ INFO] [1513620237.777969945]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1513620237.792668660]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1513620238.005067726]:   No forward  friction compensation map for: rh_FFJ0
[ INFO] [1513620238.005319860]:   No backward friction compensation map for: rh_FFJ0
[ INFO] [1513620238.229218201]:   No forward  friction compensation map for: rh_FFJ3
[ INFO] [1513620238.229450710]:   No backward friction compensation map for: rh_FFJ3
[ INFO] [1513620238.393990901]: Listening to '/camera/depth_registered/points' using message filter with target frame '/world '
[ INFO] [1513620238.493926724]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1513620238.512278337]:   No forward  friction compensation map for: rh_FFJ4
[ INFO] [1513620238.512357090]:   No backward friction compensation map for: rh_FFJ4
[ INFO] [1513620238.673913522]: Initializing OMPL interface using ROS parameters
[ INFO] [1513620238.772086437]: Loading robot model 'shadowhand_motor'...
[ INFO] [1513620238.772336036]: No root joint specified. Assuming fixed joint
[ INFO] [1513620238.990114931]: Received new force PID parameters for motor 0
[ INFO] [1513620238.990339016]: Setting new pid values for motor0: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620239.081670475]: All motors were initialized.
[param_dump-3] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/param_dump-3*.log
[ INFO] [1513620239.420645008]:   No forward  friction compensation map for: rh_MFJ0
[ INFO] [1513620239.420743608]:   No backward friction compensation map for: rh_MFJ0
[ INFO] [1513620239.613231895]: Received new force PID parameters for motor 1
[ INFO] [1513620239.613338770]: Setting new pid values for motor1: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620239.736025018]: Using planning interface 'OMPL'
[ INFO] [1513620239.810428562]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1513620239.817250148]: Param 'start_state_max_bounds_error' was set to 0.25
[ INFO] [1513620239.822188593]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1513620239.829184775]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1513620239.837904288]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1513620239.842495835]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1513620239.842730027]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1513620239.842775605]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1513620239.842812191]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1513620239.842847143]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1513620239.842919969]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1513620239.845558195]: Received new force PID parameters for motor 2
[ INFO] [1513620239.845675161]: Setting new pid values for motor2: max_pwm=400 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620240.015810178]: Received new force PID parameters for motor 3
[ INFO] [1513620240.015941462]: Setting new pid values for motor3: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620240.150102327]: Received new force PID parameters for motor 11
[ INFO] [1513620240.150197237]: Setting new pid values for motor11: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620240.262271580]: Received new force PID parameters for motor 13
[ INFO] [1513620240.262621545]: Setting new pid values for motor13: max_pwm=400 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620240.329876668]: IK Using joint rh_wrist -0.523599 0.174533
[ INFO] [1513620240.330099090]: IK Using joint rh_palm -0.698132 0.488692
[ INFO] [1513620240.330351347]: Looking in private handle: /rviz_shadow_testing_4860_1697312707503615471 for param name: rh_wrist/position_only_ik
[ INFO] [1513620240.344291315]: Looking in private handle: /rviz_shadow_testing_4860_1697312707503615471 for param name: rh_wrist/solve_type
[ INFO] [1513620240.348109017]: Using solve type Speed
[ INFO] [1513620240.354001470]: Added FollowJointTrajectory controller for rh_trajectory_controller
[ INFO] [1513620240.355471718]: Returned 1 controllers in list
[ INFO] [1513620240.408397847]: Received new force PID parameters for motor 15
[ INFO] [1513620240.408747454]: Setting new pid values for motor15: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620240.443262461]: Started IK for rh_fftip
[ INFO] [1513620240.517731474]: Trajectory execution is managing controllers
[ INFO] [1513620240.567261905]: Started IK for rh_mftip
[ INFO] [1513620240.644310709]: Started IK for rh_rftip
[ INFO] [1513620240.682375658]: Received new force PID parameters for motor 16
[ INFO] [1513620240.682615310]: Setting new pid values for motor16: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620240.728558384]: Started IK for rh_lftip
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
[ INFO] [1513620240.819832433]: Started IK for rh_thtip
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
[ INFO] [1513620240.864754786]: Received new force PID parameters for motor 17
[ INFO] [1513620240.864834156]: Setting new pid values for motor17: max_pwm=400 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
Loading 'move_group/MoveGroupPickPlaceAction'...
[ INFO] [1513620241.119636766]: Received new force PID parameters for motor 12
[ INFO] [1513620241.119851066]: Setting new pid values for motor12: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620241.284005851]: Starting scene monitor
[ INFO] [1513620241.303083273]: Received new force PID parameters for motor 10
[ INFO] [1513620241.303214161]: Setting new pid values for motor10: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620241.310347905]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1513620241.317547724]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
[ INFO] [1513620241.357820847]:

********************************************************
* MoveGroup using:
*     - CartesianPathService
*     - ExecutePathService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
*     - GetPlanningSceneService
********************************************************

[ INFO] [1513620241.358094787]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1513620241.358265888]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

[ INFO] [1513620241.371328085]: waitForService: Service [/get_planning_scene] is now available.
[ INFO] [1513620241.401634730]: Received new force PID parameters for motor 14
[ INFO] [1513620241.401839266]: Setting new pid values for motor14: max_pwm=400 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620241.518619941]: Received new force PID parameters for motor 4
[ INFO] [1513620241.518740399]: Setting new pid values for motor4: max_pwm=500 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620241.623195086]: Received new force PID parameters for motor 6
[ INFO] [1513620241.623655415]: Setting new pid values for motor6: max_pwm=500 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620241.665143088]: Constructing new MoveGroup connection for group 'rh_fingers' in namespace ''
[ INFO] [1513620241.759742820]: Received new force PID parameters for motor 5
[ INFO] [1513620241.760062911]: Setting new pid values for motor5: max_pwm=500 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620241.916036010]: Received new force PID parameters for motor 7
[ INFO] [1513620241.916129827]: Setting new pid values for motor7: max_pwm=400 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620242.048279317]: Received new force PID parameters for motor 9
[ INFO] [1513620242.048687036]: Setting new pid values for motor9: max_pwm=400 sgleftref=0 sgrightref=0 f=300 p=8200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620242.102942368]: Setting backlash compensation to OFF for joint thj4
[ INFO] [1513620242.159839671]: Received new force PID parameters for motor 19
[ INFO] [1513620242.160045723]: Setting new pid values for motor19: max_pwm=400 sgleftref=0 sgrightref=0 f=300 p=8200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620242.197690998]: Setting backlash compensation to OFF for joint thj5
[ INFO] [1513620242.233143560]: Received new force PID parameters for motor 18
[ INFO] [1513620242.233319083]: Setting new pid values for motor18: max_pwm=600 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620242.281621304]: Setting backlash compensation to OFF for joint wrj1
[ INFO] [1513620242.338532972]: Received new force PID parameters for motor 8
[ INFO] [1513620242.338762092]: Setting new pid values for motor8: max_pwm=500 sgleftref=0 sgrightref=0 f=300 p=6200 i=0 d=0 imax=0 deadband=5 sign=0
[ INFO] [1513620242.466309636]: Setting backlash compensation to OFF for joint wrj2
[ INFO] [1513620242.661172580]: All motors were initialized.
[ INFO] [1513620242.751853244]:   No forward  friction compensation map for: rh_MFJ3
[ INFO] [1513620242.751982313]:   No backward friction compensation map for: rh_MFJ3
[ INFO] [1513620242.820334016]: Ready to take MoveGroup commands for group rh_fingers.
[ INFO] [1513620242.820691091]: Looking around: no
[ INFO] [1513620242.820923908]: Replanning: no
[ INFO] [1513620242.950029911]:   No forward  friction compensation map for: rh_MFJ4
[ INFO] [1513620242.950537988]:   No backward friction compensation map for: rh_MFJ4
[ INFO] [1513620243.170387764]:   No forward  friction compensation map for: rh_RFJ0
[ INFO] [1513620243.170875577]:   No backward friction compensation map for: rh_RFJ0
[ INFO] [1513620243.400312819]:   No forward  friction compensation map for: rh_RFJ3
[ INFO] [1513620243.400456047]:   No backward friction compensation map for: rh_RFJ3
[ INFO] [1513620243.640643055]:   No forward  friction compensation map for: rh_RFJ4
[ INFO] [1513620243.640790475]:   No backward friction compensation map for: rh_RFJ4
[ INFO] [1513620243.903979794]:   No forward  friction compensation map for: rh_LFJ0
[ INFO] [1513620243.904327315]:   No backward friction compensation map for: rh_LFJ0
[ INFO] [1513620244.169053792]:   No forward  friction compensation map for: rh_LFJ3
[ INFO] [1513620244.169682842]:   No backward friction compensation map for: rh_LFJ3
[ INFO] [1513620244.542492026]:   No forward  friction compensation map for: rh_LFJ4
[ INFO] [1513620244.543089630]:   No backward friction compensation map for: rh_LFJ4
[ INFO] [1513620244.800216410]:   No forward  friction compensation map for: rh_LFJ5
[ INFO] [1513620244.800698661]:   No backward friction compensation map for: rh_LFJ5
[ INFO] [1513620245.105572054]:   No forward  friction compensation map for: rh_THJ1
[ INFO] [1513620245.105784171]:   No backward friction compensation map for: rh_THJ1
[ INFO] [1513620245.294016976]:   No forward  friction compensation map for: rh_THJ2
[ INFO] [1513620245.294269985]:   No backward friction compensation map for: rh_THJ2
[ INFO] [1513620245.545761862]:   No forward  friction compensation map for: rh_THJ3
[ INFO] [1513620245.545870842]:   No backward friction compensation map for: rh_THJ3
[ INFO] [1513620245.823036598]:   No forward  friction compensation map for: rh_THJ4
[ INFO] [1513620245.823323195]:   No backward friction compensation map for: rh_THJ4
[ INFO] [1513620246.100531897]:   No forward  friction compensation map for: rh_THJ5
[ INFO] [1513620246.101097566]:   No backward friction compensation map for: rh_THJ5
[ INFO] [1513620246.362094755]:   No forward  friction compensation map for: rh_WRJ1
[ INFO] [1513620246.362416106]:   No backward friction compensation map for: rh_WRJ1
[ INFO] [1513620246.614004693]:   No forward  friction compensation map for: rh_WRJ2
[ INFO] [1513620246.614284487]:   No backward friction compensation map for: rh_WRJ2
[ WARN] [1513620246.707013855]: Reseting PID for joints rh_FFJ1 and rh_FFJ2
[ WARN] [1513620246.745473249]: Reseting PID for joint  rh_FFJ3
[ WARN] [1513620246.781257640]: Reseting PID for joint  rh_FFJ4
[ WARN] [1513620246.785529534]: Reseting PID for joints rh_MFJ1 and rh_MFJ2
[ WARN] [1513620246.817803286]: Reseting PID for joint  rh_MFJ3
[ WARN] [1513620246.835976577]: Reseting PID for joint  rh_MFJ4
[ WARN] [1513620246.854464709]: Reseting PID for joints rh_RFJ1 and rh_RFJ2
[ WARN] [1513620246.867492717]: Reseting PID for joint  rh_RFJ3
[ WARN] [1513620246.872632167]: Reseting PID for joint  rh_RFJ4
[ WARN] [1513620246.901313752]: Reseting PID for joints rh_LFJ1 and rh_LFJ2
[ WARN] [1513620246.918280830]: Reseting PID for joint  rh_LFJ3
[ WARN] [1513620246.961365745]: Reseting PID for joint  rh_LFJ4
[ WARN] [1513620246.967211875]: Reseting PID for joint  rh_LFJ5
[ WARN] [1513620247.003387610]: Reseting PID for joint  rh_THJ1
[ WARN] [1513620247.015343835]: Reseting PID for joint  rh_THJ2
[ WARN] [1513620247.026832272]: Reseting PID for joint  rh_THJ3
[ WARN] [1513620247.052732101]: Reseting PID for joint  rh_THJ4
[ WARN] [1513620247.081252075]: Reseting PID for joint  rh_THJ5
[ WARN] [1513620247.090684365]: Reseting PID for joint  rh_WRJ1
[ WARN] [1513620247.119710914]: Reseting PID for joint  rh_WRJ2
[rh_trajectory_controller-20] process has finished cleanly
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/rh_trajectory_controller-20*.log
[realtime_loop-5] process has died [pid 4526, exit code -11, cmd ethercat_grant /home/hand/projects/shadow_robot/base/devel/lib/ros_ethercat_loop/ros_ethercat_loop -i eth0 -r robot_description __name:=realtime_loop __log:=/home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/realtime_loop-5.log].
log file: /home/hand/.ros/log/b9dbc8a8-e408-11e7-854d-bc5ff49eff4e/realtime_loop-5*.log