[ INFO] [1521633757.233173297]: Added plan for pipeline 'pick'. Queue is now of size 130
     [ INFO] [1521633757.233387878]: Added plan for pipeline 'pick'. Queue is now of size 131
   [ INFO] [1521633757.233565758]: Added plan for pipeline 'pick'. Queue is now of size 132
  [ INFO] [1521633757.233661266]: Added plan for pipeline 'pick'. Queue is now of size 133
 [ INFO] [1521633757.259952855]: Manipulation plan 17 failed at stage 'reachable & valid pose filter' on thread 2
 [ INFO] [1521633757.270448057]: Manipulation plan 119 failed at stage 'reachable & valid pose filter' on thread 3
  [ INFO] [1521633757.270590459]: Manipulation plan 16 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1521633757.270922774]: Manipulation plan 118 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1521633757.294972059]: Manipulation plan 51 failed at stage 'reachable & valid pose filter' on thread 2
 [ INFO] [1521633757.306820635]: Manipulation plan 84 failed at stage 'reachable & valid pose filter' on thread 1
 [ INFO] [1521633757.309723185]: Manipulation plan 85 failed at stage 'reachable & valid pose filter' on thread 0
 [ INFO] [1521633758.492223810]: Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
 [ INFO] [1521633758.500294621]: IK failed
  [ INFO] [1521633758.507225297]: IK failed
 [ INFO] [1521633758.515416594]: IK failed
  [ INFO] [1521633758.515482202]: Sampler failed to produce a state
  [ INFO] [1521633758.515531577]: Manipulation plan 1 failed at stage 'reachable & valid pose filter' on thread 0
 [ INFO] [1521633758.515687029]: Pickup planning completed after 1.270707 seconds    ^C[rviz_mostafabakr_Inspiron_3537_29798_1993362218023763011-5] killing on exit [move_group-4] killing on exit   [robot_state_publisher-3] killing on exit [joint_state_publisher-2] killing on exit [virtual_joint_broadcaster_0-1] killing on exit shutting down processing monitor...

void pick(moveit::planning_interface::MoveGroupInterface &group){
     ros::NodeHandle nh;
     moveit_simple_grasps::SimpleGraspsPtr simpleGrasps;
     moveit_visual_tools::MoveItVisualToolsPtr visualTools;
     moveit_simple_grasps::GraspData graspData;
     //graspData.base_link_ = "chassis";

     if (!graspData.loadRobotGraspData(nh, "gripper"))
           ros::shutdown();

      visualTools.reset(new moveit_visual_tools::MoveItVisualTools("chassis"));
      simpleGrasps.reset(new moveit_simple_grasps::SimpleGrasps(visualTools));

    geometry_msgs::Pose objectPose;
    objectPose.position.x = 3.0;
    objectPose.position.y = 0.0;
    objectPose.position.z = 0.25;
    objectPose.orientation.x = 0.0;
    objectPose.orientation.y = 0.0;
    objectPose.orientation.z = 0.0;
    objectPose.orientation.w = 1.0;

   std::vector<moveit_msgs::Grasp> possibleGrasps;
   simpleGrasps->generateBlockGrasps(objectPose, graspData, possibleGrasps);
   //ROS_INFO_STREAM(possibleGrasps[0].grasp_pose.header.frame_id);

   group.pick("barrel", possibleGrasps);
       }


     int main(int argc, char **argv){

          ros::init(argc, argv, "grippertrial");
          ros::AsyncSpinner spinner(1);
          spinner.start();

          moveit::planning_interface::MoveGroupInterface moveGroup("e1_complete");   moveit::planning_interface::PlanningSceneInterface planningScene;
            const robot_state::JointModelGroup* jointModelGroup = moveGroup.getCurrentState()->getJointModelGroup("gripper");

          moveGroup.setPlanningTime(200.0);

           moveit_msgs::CollisionObject barrel; barrel.id = "barrel";

           barrel.operation = moveit_msgs::CollisionObject::ADD;
            shape_msgs::SolidPrimitive primitive;
           primitive.type = primitive.CYLINDER;
           primitive.dimensions.resize(2);
             primitive.dimensions[0] = 0.5;   //length
            primitive.dimensions[1] = 0.25;  //diameter

           //barrel upright
            geometry_msgs::Pose barrelPose;
            barrelPose.position.x = 3.0;
            barrelPose.position.y = 0.0;
             barrelPose.position.z = 0.25;
            barrelPose.orientation.x = 0.0;
            barrelPose.orientation.y = 0.0;
            barrelPose.orientation.z = 0.0;
            barrelPose.orientation.w = 1.0;
            barrel.primitives.push_back(primitive);
           barrel.primitive_poses.push_back(barrelPose);

            std::vector<moveit_msgs::CollisionObject> collisionObjectsVector;
             collisionObjectsVector.push_back(barrel);
              std::vector<std::string> objectIds;
             objectIds.push_back(barrel.id);
           planningScene.removeCollisionObjects(objectIds);
           planningScene.addCollisionObjects(collisionObjectsVector);
         // sleep(5.0);
          ros::WallDuration(5.0).sleep();

         pick(moveGroup);

        return 0;
           }

gripper:
  end_effector_name: 'gripper' #eef group name

 # Default grasp params
  joints: ['gripper_rotator_joint' , 'gripper_left_joint' , 'gripper_right_joint']

    #open Gripper
    pregrasp_posture: [0.0, 1.0, 1.0]
    pregrasp_time_from_start: 4.0

     #closed Gripper
     grasp_posture: [0.0, 0.8, 0.8]
     grasp_time_from_start: 4.0

     postplace_time_from_start: 4.0

     #max object width that can fit between fingers
       max_grasp_width : 0.35

    # Desired pose from end effector to grasp [x, y, z] + [R, P, Y]
    grasp_pose_to_eef: [2.75869, -0.035, 2.23794]
   grasp_pose_to_eef_rotation: [0.0, 0.0443414, 0.0]

  end_effector_parent_link: 'quickcoupler'