output

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started roslaunch server http://talos-sim.local:42741/

SUMMARY
========

PARAMETERS
 * /collision_model_parameters/blacklist/auto: [{'second': 'arm_...
 * /collision_model_parameters/blacklist/manual: [{'second': ''SBL', 'EST', 'L...
 * /move_group/both_arms_torso/projection_evaluator: joints(torso_1_jo...
 * /move_group/both_legs/default_planner_config:
 * /move_group/both_legs/longest_valid_segment_fraction: 0.05
 * /move_group/both_legs/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/both_legs/projection_evaluator: joints(leg_left_1...
 * /move_group/capabilities:
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: controller_manager
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/disable_capabilities:
 * /move_group/gripper_left/default_planner_config:
 * /move_group/gripper_left/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/gripper_right/default_planner_config:
 * /move_group/gripper_right/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/left_arm/default_planner_config:
 * /move_group/left_arm/longest_valid_segment_fraction: 0.05
 * /move_group/left_arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/left_arm/projection_evaluator: joints(arm_left_1...
 * /move_group/left_arm_torso/default_planner_config:
 * /move_group/left_arm_torso/longest_valid_segment_fraction: 0.05
 * /move_group/left_arm_torso/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/left_arm_torso/projection_evaluator: joints(torso_1_jo...
 * /move_group/left_leg/default_planner_config:
 * /move_group/left_leg/longest_valid_segment_fraction: 0.05
 * /move_group/left_leg/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/left_leg/projection_evaluator: joints(leg_left_1...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /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/right_arm/default_planner_config:
 * /move_group/right_arm/longest_valid_segment_fraction: 0.05
 * /move_group/right_arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/right_arm/projection_evaluator: joints(arm_right_...
 * /move_group/right_arm_torso/default_planner_config:
 * /move_group/right_arm_torso/longest_valid_segment_fraction: 0.05
 * /move_group/right_arm_torso/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/right_arm_torso/projection_evaluator: joints(torso_1_jo...
 * /move_group/right_leg/default_planner_config:
 * /move_group/right_leg/longest_valid_segment_fraction: 0.05
 * /move_group/right_leg/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/right_leg/projection_evaluator: joints(leg_right_...
 * /move_group/sensors: [{}]
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/torso/default_planner_config:
 * /move_group/torso/longest_valid_segment_fraction: 0.05
 * /move_group/torso/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/torso/projection_evaluator: joints(torso_1_jo...
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/use_controller_manager: True
 * /play_motion/approach_planner/exclude_from_planning_joints: ['head_1_joint', ...
 * /play_motion/approach_planner/joint_tolerance: 0.1
 * /play_motion/approach_planner/planning_groups: ['left_arm', 'rig...
 * /play_motion/approach_planner/skip_planning_approach_min_dur: 0.5
 * /play_motion/approach_planner/skip_planning_approach_vel: 0.5
 * /play_motion/controllers: ['right_arm_contr...
 * /play_motion/motions/alive_left_stretch/joints: ['arm_left_1_join...
 * /play_motion/motions/alive_left_stretch/meta/description: Stretch left arm
 * /play_motion/motions/alive_left_stretch/meta/name: Left Stretch
 * /play_motion/motions/alive_left_stretch/meta/usage: alive
 * /play_motion/motions/alive_left_stretch/points: [{'positions': [0...
 * /play_motion/motions/alive_look/joints: ['head_1_joint', ...
 * /play_motion/motions/alive_look/meta/description: Look around and nod
 * /play_motion/motions/alive_look/meta/name: Alive Look
 * /play_motion/motions/alive_look/meta/usage: alive
 * /play_motion/motions/alive_look/points: [{'positions': [0...
 * /play_motion/motions/alive_look_around/joints: ['arm_left_1_join...
 * /play_motion/motions/alive_look_around/meta/description: Look around using...
 * /play_motion/motions/alive_look_around/meta/name: Look Around
 * /play_motion/motions/alive_look_around/meta/usage: alive
 * /play_motion/motions/alive_look_around/points: [{'positions': [0...
 * /play_motion/motions/alive_right_stretch/joints: ['arm_left_1_join...
 * /play_motion/motions/alive_right_stretch/meta/description: Stretch right arm
 * /play_motion/motions/alive_right_stretch/meta/name: Right Stretch
 * /play_motion/motions/alive_right_stretch/meta/usage: alive
 * /play_motion/motions/alive_right_stretch/points: [{'positions': [0...
 * /play_motion/motions/alive_waiting_1/joints: ['arm_left_1_join...
 * /play_motion/motions/alive_waiting_1/meta/description:
 * /play_motion/motions/alive_waiting_1/meta/name: Alive Waiting 1
 * /play_motion/motions/alive_waiting_1/meta/usage: alive
 * /play_motion/motions/alive_waiting_1/points: [{'positions': [0...
 * /play_motion/motions/alive_waiting_2/joints: ['arm_left_1_join...
 * /play_motion/motions/alive_waiting_2/meta/description:
 * /play_motion/motions/alive_waiting_2/meta/name: Alive Waiting 2
 * /play_motion/motions/alive_waiting_2/meta/usage: alive
 * /play_motion/motions/alive_waiting_2/points: [{'positions': [0...
 * /play_motion/motions/alive_waiting_3/joints: ['arm_left_1_join...
 * /play_motion/motions/alive_waiting_3/meta/description:
 * /play_motion/motions/alive_waiting_3/meta/name: Alive Waiting 3
 * /play_motion/motions/alive_waiting_3/meta/usage: alive
 * /play_motion/motions/alive_waiting_3/points: [{'positions': [0...
 * /play_motion/motions/alive_wiggle_gripper/joints: ['gripper_left_jo...
 * /play_motion/motions/alive_wiggle_gripper/meta/description: Wiggle gripper fi...
 * /play_motion/motions/alive_wiggle_gripper/meta/name: Wiggle Gripper
 * /play_motion/motions/alive_wiggle_gripper/meta/usage: alive
 * /play_motion/motions/alive_wiggle_gripper/points: [{'positions': [-...
 * /play_motion/motions/alive_wrists/joints: ['arm_left_1_join...
 * /play_motion/motions/alive_wrists/meta/description: Small wrist movement
 * /play_motion/motions/alive_wrists/meta/name: Wrists
 * /play_motion/motions/alive_wrists/meta/usage: alive
 * /play_motion/motions/alive_wrists/points: [{'positions': [0...
 * /play_motion/motions/arms_down/joints: ['torso_1_joint',...
 * /play_motion/motions/arms_down/meta/description: Both arms on the ...
 * /play_motion/motions/arms_down/meta/name: Arms down
 * /play_motion/motions/arms_down/meta/usage: posture
 * /play_motion/motions/arms_down/points: [{'positions': [0...
 * /play_motion/motions/arms_t/joints: ['torso_1_joint',...
 * /play_motion/motions/arms_t/points: [{'positions': [0...
 * /play_motion/motions/bow/joints: ['torso_1_joint',...
 * /play_motion/motions/bow/meta/description: Makes a short rev...
 * /play_motion/motions/bow/meta/name: Bow
 * /play_motion/motions/bow/meta/usage: greet
 * /play_motion/motions/bow/points: [{'positions': [0...
 * /play_motion/motions/center_head/joints: ['head_1_joint', ...
 * /play_motion/motions/center_head/meta/description: Moves only head t...
 * /play_motion/motions/center_head/meta/name: Center Head
 * /play_motion/motions/center_head/meta/usage: posture
 * /play_motion/motions/center_head/points: [{'positions': [0...
 * /play_motion/motions/close_both_grippers/joints: ['gripper_left_jo...
 * /play_motion/motions/close_both_grippers/meta/description: Closes both grippers
 * /play_motion/motions/close_both_grippers/meta/name: Close Both Grippers
 * /play_motion/motions/close_both_grippers/meta/usage: action
 * /play_motion/motions/close_both_grippers/points: [{'positions': [-...
 * /play_motion/motions/close_left_gripper/joints: ['gripper_left_jo...
 * /play_motion/motions/close_left_gripper/meta/description: Closes right gripper
 * /play_motion/motions/close_left_gripper/meta/name: Close Left Gripper
 * /play_motion/motions/close_left_gripper/meta/usage: action
 * /play_motion/motions/close_left_gripper/points: [{'positions': [-...
 * /play_motion/motions/close_right_gripper/joints: ['gripper_right_j...
 * /play_motion/motions/close_right_gripper/meta/description: Closes right gripper
 * /play_motion/motions/close_right_gripper/meta/name: Close Right Gripper
 * /play_motion/motions/close_right_gripper/meta/usage: action
 * /play_motion/motions/close_right_gripper/points: [{'positions': [-...
 * /play_motion/motions/double_bow/joints: ['arm_left_1_join...
 * /play_motion/motions/double_bow/meta/description: Bow once to each ...
 * /play_motion/motions/double_bow/meta/name: Double bow
 * /play_motion/motions/double_bow/meta/usage: entertainment
 * /play_motion/motions/double_bow/points: [{'positions': [0...
 * /play_motion/motions/egyptian/joints: ['arm_left_1_join...
 * /play_motion/motions/egyptian/meta/description: Dance like an egy...
 * /play_motion/motions/egyptian/meta/name: Egyptian pose
 * /play_motion/motions/egyptian/meta/usage: entertainment
 * /play_motion/motions/egyptian/points: [{'positions': [0...
 * /play_motion/motions/hands_front/joints: ['torso_1_joint',...
 * /play_motion/motions/hands_front/points: [{'positions': [0...
 * /play_motion/motions/hands_front_lift/joints: ['torso_1_joint',...
 * /play_motion/motions/hands_front_lift/points: [{'positions': [0...
 * /play_motion/motions/hands_up/joints: ['torso_1_joint',...
 * /play_motion/motions/hands_up/points: [{'positions': [0...
 * /play_motion/motions/home/joints: ['torso_1_joint',...
 * /play_motion/motions/home/meta/description: Both arms down an...
 * /play_motion/motions/home/meta/name: Home
 * /play_motion/motions/home/meta/usage: posture
 * /play_motion/motions/home/points: [{'positions': [0...
 * /play_motion/motions/home_legs/joints: ['leg_left_1_join...
 * /play_motion/motions/home_legs/points: [{'positions': [0...
 * /play_motion/motions/interact/joints: ['torso_1_joint',...
 * /play_motion/motions/interact/meta/description: Same posture as i...
 * /play_motion/motions/interact/meta/name: Interact
 * /play_motion/motions/interact/meta/usage: posture
 * /play_motion/motions/interact/points: [{'positions': [0...
 * /play_motion/motions/italian/joints: ['arm_left_1_join...
 * /play_motion/motions/italian/meta/description: Italian move
 * /play_motion/motions/italian/meta/name: Italian move
 * /play_motion/motions/italian/meta/usage: entertainment
 * /play_motion/motions/italian/points: [{'positions': [0...
 * /play_motion/motions/lift_weights/joints: ['head_1_joint', ...
 * /play_motion/motions/lift_weights/points: [{'positions': [-...
 * /play_motion/motions/look_around/joints: ['torso_1_joint',...
 * /play_motion/motions/look_around/meta/description: turn torso and he...
 * /play_motion/motions/look_around/meta/name: look_around
 * /play_motion/motions/look_around/meta/usage: demonstration
 * /play_motion/motions/look_around/points: [{'positions': [0...
 * /play_motion/motions/look_nod/joints: ['arm_left_1_join...
 * /play_motion/motions/look_nod/meta/description: Look around and nod
 * /play_motion/motions/look_nod/meta/name: Look And Nod
 * /play_motion/motions/look_nod/meta/usage: salutation
 * /play_motion/motions/look_nod/points: [{'positions': [0...
 * /play_motion/motions/move_wrists/joints: ['arm_left_1_join...
 * /play_motion/motions/move_wrists/meta/description: Circle both wrists
 * /play_motion/motions/move_wrists/meta/name: Circle both wrist
 * /play_motion/motions/move_wrists/meta/usage: entertainment
 * /play_motion/motions/move_wrists/points: [{'positions': [0...
 * /play_motion/motions/nod/joints: ['head_1_joint', ...
 * /play_motion/motions/nod/meta/description: Nod with head
 * /play_motion/motions/nod/meta/name: Nod
 * /play_motion/motions/nod/meta/usage: entertainment
 * /play_motion/motions/nod/points: [{'positions': [0...
 * /play_motion/motions/open_both_grippers/joints: ['gripper_left_jo...
 * /play_motion/motions/open_both_grippers/meta/description: Open both grippers
 * /play_motion/motions/open_both_grippers/meta/name: Open Both Grippers
 * /play_motion/motions/open_both_grippers/meta/usage: action
 * /play_motion/motions/open_both_grippers/points: [{'positions': [0...
 * /play_motion/motions/open_left_gripper/joints: ['gripper_left_jo...
 * /play_motion/motions/open_left_gripper/meta/description: Opens left gripper
 * /play_motion/motions/open_left_gripper/meta/name: Open Left Gripper
 * /play_motion/motions/open_left_gripper/meta/usage: action
 * /play_motion/motions/open_left_gripper/points: [{'positions': [0...
 * /play_motion/motions/open_right_gripper/joints: ['gripper_right_j...
 * /play_motion/motions/open_right_gripper/meta/description: Opens right gripper
 * /play_motion/motions/open_right_gripper/meta/name: Open Right Gripper
 * /play_motion/motions/open_right_gripper/meta/usage: action
 * /play_motion/motions/open_right_gripper/points: [{'positions': [0...
 * /play_motion/motions/point_head_chest/joints: ['arm_left_1_join...
 * /play_motion/motions/point_head_chest/meta/description: Point to head, th...
 * /play_motion/motions/point_head_chest/meta/name: Point to head and...
 * /play_motion/motions/point_head_chest/meta/usage: entertainment
 * /play_motion/motions/point_head_chest/points: [{'positions': [0...
 * /play_motion/motions/point_to_chest/joints: ['arm_left_1_join...
 * /play_motion/motions/point_to_chest/meta/description: Point towards the...
 * /play_motion/motions/point_to_chest/meta/name: Point to Chest
 * /play_motion/motions/point_to_chest/meta/usage: entertainment
 * /play_motion/motions/point_to_chest/points: [{'positions': [0...
 * /play_motion/motions/push_walls/joints: ['arm_left_1_join...
 * /play_motion/motions/push_walls/meta/description: Push lateral walls
 * /play_motion/motions/push_walls/meta/name: Push Walls
 * /play_motion/motions/push_walls/meta/usage: entertainment
 * /play_motion/motions/push_walls/points: [{'positions': [0...
 * /play_motion/motions/reset_ft_wrist_pose/joints: ['torso_1_joint',...
 * /play_motion/motions/reset_ft_wrist_pose/points: [{'positions': [0...
 * /play_motion/motions/right_arm_forward/joints: ['arm_left_1_join...
 * /play_motion/motions/right_arm_forward/meta/description: Move right arm fo...
 * /play_motion/motions/right_arm_forward/meta/name: Right Arm forward
 * /play_motion/motions/right_arm_forward/meta/usage: entertainment
 * /play_motion/motions/right_arm_forward/points: [{'positions': [0...
 * /play_motion/motions/show_battery/joints: ['arm_left_1_join...
 * /play_motion/motions/show_battery/meta/description: Show battery pack
 * /play_motion/motions/show_battery/meta/name: Show Battery
 * /play_motion/motions/show_battery/meta/usage: entertainment
 * /play_motion/motions/show_battery/points: [{'positions': [0...
 * /play_motion/motions/small_squat/joints: ['leg_left_4_join...
 * /play_motion/motions/small_squat/points: [{'positions': [1...
 * /play_motion/motions/squat/joints: ['leg_left_5_join...
 * /play_motion/motions/squat/meta/description: Squat
 * /play_motion/motions/squat/meta/name: Squat
 * /play_motion/motions/squat/meta/usage: entertainment
 * /play_motion/motions/squat/points: [{'positions': [-...
 * /play_motion/motions/test_arm_left/joints: ['torso_1_joint',...
 * /play_motion/motions/test_arm_left/points: [{'positions': [0...
 * /play_motion/motions/test_arm_right/joints: ['torso_1_joint',...
 * /play_motion/motions/test_arm_right/points: [{'positions': [0...
 * /play_motion/motions/test_head/joints: ['head_1_joint', ...
 * /play_motion/motions/test_head/points: [{'positions': [-...
 * /play_motion/motions/walk_pose/joints: ['torso_1_joint',...
 * /play_motion/motions/walk_pose/meta/description: Both arms down an...
 * /play_motion/motions/walk_pose/meta/name: Walk pose
 * /play_motion/motions/walk_pose/meta/usage: posture
 * /play_motion/motions/walk_pose/points: [{'positions': [0...
 * /play_motion/motions/wave/joints: ['arm_left_1_join...
 * /play_motion/motions/wave/meta/description: Wave
 * /play_motion/motions/wave/meta/name: Wave
 * /play_motion/motions/wave/meta/usage: salutation
 * /play_motion/motions/wave/points: [{'positions': [0...
 * /play_motion/motions/wave_both_arms/joints: ['torso_1_joint',...
 * /play_motion/motions/wave_both_arms/points: [{'positions': [-...
 * /play_motion/motions/wave_left/joints: ['torso_1_joint',...
 * /play_motion/motions/wave_left/points: [{'positions': [-...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/left_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/left_arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/left_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/left_arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/left_arm_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/left_arm_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/left_arm_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/left_arm_torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/left_leg/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/left_leg/kinematics_solver_attempts: 3
 * /robot_description_kinematics/left_leg/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/left_leg/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/right_arm_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/right_arm_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/right_arm_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/right_arm_torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/right_leg/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/right_leg/kinematics_solver_attempts: 3
 * /robot_description_kinematics/right_leg/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/right_leg/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/arm_left_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_left_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_left_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_left_1_joint/max_velocity: 2.7
 * /robot_description_planning/joint_limits/arm_left_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_left_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_left_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_left_2_joint/max_velocity: 3.66
 * /robot_description_planning/joint_limits/arm_left_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_left_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_left_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_left_3_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_left_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_left_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_left_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_left_4_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_left_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_left_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_left_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_left_5_joint/max_velocity: 1.95
 * /robot_description_planning/joint_limits/arm_left_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_left_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_left_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_left_6_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/arm_left_7_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_left_7_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_left_7_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_left_7_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/arm_right_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_right_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_right_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_right_1_joint/max_velocity: 2.7
 * /robot_description_planning/joint_limits/arm_right_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_right_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_right_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_right_2_joint/max_velocity: 3.66
 * /robot_description_planning/joint_limits/arm_right_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_right_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_right_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_right_3_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_right_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_right_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_right_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_right_4_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_right_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_right_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_right_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_right_5_joint/max_velocity: 1.95
 * /robot_description_planning/joint_limits/arm_right_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_right_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_right_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_right_6_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/arm_right_7_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_right_7_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_right_7_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_right_7_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/gripper_left_fingertip_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_fingertip_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_fingertip_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_fingertip_1_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_left_fingertip_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_fingertip_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_fingertip_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_fingertip_2_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_left_fingertip_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_fingertip_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_fingertip_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_fingertip_3_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_left_inner_double_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_inner_double_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_inner_double_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_inner_double_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_left_inner_single_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_inner_single_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_inner_single_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_inner_single_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_left_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_left_motor_single_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_motor_single_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_motor_single_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_motor_single_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_right_fingertip_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_fingertip_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_fingertip_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_fingertip_1_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_right_fingertip_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_fingertip_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_fingertip_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_fingertip_2_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_right_fingertip_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_fingertip_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_fingertip_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_fingertip_3_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_right_inner_double_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_inner_double_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_inner_double_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_inner_double_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_right_inner_single_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_inner_single_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_inner_single_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_inner_single_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_right_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/gripper_right_motor_single_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_motor_single_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_motor_single_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_motor_single_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/leg_left_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_left_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_left_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_left_1_joint/max_velocity: 3.87
 * /robot_description_planning/joint_limits/leg_left_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_left_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_left_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_left_2_joint/max_velocity: 5.8
 * /robot_description_planning/joint_limits/leg_left_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_left_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_left_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_left_3_joint/max_velocity: 5.8
 * /robot_description_planning/joint_limits/leg_left_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_left_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_left_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_left_4_joint/max_velocity: 7
 * /robot_description_planning/joint_limits/leg_left_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_left_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_left_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_left_5_joint/max_velocity: 5.8
 * /robot_description_planning/joint_limits/leg_left_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_left_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_left_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_left_6_joint/max_velocity: 4.8
 * /robot_description_planning/joint_limits/leg_right_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_right_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_right_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_right_1_joint/max_velocity: 3.87
 * /robot_description_planning/joint_limits/leg_right_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_right_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_right_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_right_2_joint/max_velocity: 5.8
 * /robot_description_planning/joint_limits/leg_right_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_right_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_right_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_right_3_joint/max_velocity: 5.8
 * /robot_description_planning/joint_limits/leg_right_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_right_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_right_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_right_4_joint/max_velocity: 7
 * /robot_description_planning/joint_limits/leg_right_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_right_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_right_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_right_5_joint/max_velocity: 5.8
 * /robot_description_planning/joint_limits/leg_right_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/leg_right_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/leg_right_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/leg_right_6_joint/max_velocity: 4.8
 * /robot_description_planning/joint_limits/torso_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/torso_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/torso_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/torso_1_joint/max_velocity: 5.4
 * /robot_description_planning/joint_limits/torso_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/torso_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/torso_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/torso_2_joint/max_velocity: 5.4
 * /robot_description_semantic: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 100.0
 * /robot_state_publisher/tf_prefix:
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True
 * /zeros/arm_left_1_joint: 0.0
 * /zeros/arm_left_2_joint: 0.05
 * /zeros/arm_left_3_joint: 0.0
 * /zeros/arm_left_4_joint: -0.02
 * /zeros/arm_left_5_joint: 0.0
 * /zeros/arm_left_6_joint: 0.0
 * /zeros/arm_left_7_joint: 0.0
 * /zeros/arm_right_1_joint: 0.0
 * /zeros/arm_right_2_joint: -0.05
 * /zeros/arm_right_3_joint: 0.0
 * /zeros/arm_right_4_joint: -0.02
 * /zeros/arm_right_5_joint: 0.0
 * /zeros/arm_right_6_joint: 0.0
 * /zeros/arm_right_7_joint: 0.0
 * /zeros/gripper_left_fingertip_1_joint: 0.0
 * /zeros/gripper_left_fingertip_2_joint: 0.0
 * /zeros/gripper_left_fingertip_3_joint: 0.0
 * /zeros/gripper_left_inner_double_joint: 0.0
 * /zeros/gripper_left_inner_single_joint: 0.0
 * /zeros/gripper_left_joint: 0.0
 * /zeros/gripper_left_motor_single_joint: 0.0
 * /zeros/gripper_right_fingertip_1_joint: 0.0
 * /zeros/gripper_right_fingertip_2_joint: 0.0
 * /zeros/gripper_right_fingertip_3_joint: 0.0
 * /zeros/gripper_right_inner_double_joint: 0.0
 * /zeros/gripper_right_inner_single_joint: 0.0
 * /zeros/gripper_right_joint: 0.0
 * /zeros/gripper_right_motor_single_joint: 0.0
 * /zeros/head_1_joint: 0.0
 * /zeros/head_2_joint: 0.0
 * /zeros/leg_left_1_joint: 0.0
 * /zeros/leg_left_2_joint: 0.0
 * /zeros/leg_left_3_joint: 0.0
 * /zeros/leg_left_4_joint: 0.0
 * /zeros/leg_left_5_joint: 0.0
 * /zeros/leg_left_6_joint: 0.0
 * /zeros/leg_left_flex_1_joint: 0.0
 * /zeros/leg_left_flex_2_joint: 0.0
 * /zeros/leg_right_1_joint: 0.0
 * /zeros/leg_right_2_joint: 0.0
 * /zeros/leg_right_3_joint: 0.0
 * /zeros/leg_right_4_joint: 0.0
 * /zeros/leg_right_5_joint: 0.0
 * /zeros/leg_right_6_joint: 0.0
 * /zeros/leg_right_flex_1_joint: 0.0
 * /zeros/leg_right_flex_2_joint: 0.0
 * /zeros/torso_1_joint: 0.0
 * /zeros/torso_2_joint: 0.0

NODES
  /
    bringup_controllers_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    is_already_there (play_motion/is_already_there.py)
    move_group (moveit_ros_move_group/move_group)
    play_motion (play_motion/play_motion)
    robot_state_publisher (robot_state_publisher/state_publisher)
    spawn_model (gazebo_ros/spawn_model)
  /rgbd/rgb/
    image_proc (image_proc/ALSA lib pcm_dmix.c:1052:(snd_pcm_dmix_open) unable to open slave
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': Device or resource busy
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[ WARN] [1652021713.844787614]: The input topic '/rgbd/rgb/high_res/image_raw' is not yet advertised
[ WARN] [1652021713.846794630]: The input topic '/rgbd/rgb/high_res/camera_info' is not yet advertised
[ WARN] [1652021715.106801047]: The input topic '/rgbd/rgb/image_raw' is not yet advertised
[ WARN] [1652021715.112668091]: The input topic '/rgbd/rgb/camera_info' is not yet advertised
[ WARN] [1652021717.075116633]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ WARN] [1652021717.164205265]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021719.223098808]: Link 'head_d435_camera_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.238694678]: Link 'marker_foot_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.238944028]: Link 'marker_foot_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.239397443]: Link 'marker_torso_front' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.239612305]: Link 'marker_torso_rear' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.239725150]: Link 'marker_gripper_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.239818512]: Link 'marker_gripper_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.239906845]: Link 'marker_gripper_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.239995609]: Link 'marker_gripper_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.240082200]: Link 'marker_head_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.240172011]: Link 'marker_head_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.240328826]: Link 'marker_trunk_front' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021719.240430563]: Link 'marker_trunk_back' is not known to URDF. Cannot disable collisons.
[ERROR] [1652021719.240644221]: Joint 'leg_right_flex_1_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1652021719.240756035]: Joint 'leg_right_flex_2_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1652021719.240862152]: Joint 'leg_left_flex_1_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1652021719.240949917]: Joint 'leg_left_flex_2_joint' marked as passive is not known to the URDF. Ignoring.
[ WARN] [1652021720.700464131]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/right_arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1652021720.874006057]: Link 'head_d435_camera_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.877653405]: Link 'marker_foot_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.878593525]: Link 'marker_foot_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.878923108]: Link 'marker_torso_front' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879055986]: Link 'marker_torso_rear' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879208032]: Link 'marker_gripper_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879310588]: Link 'marker_gripper_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879403786]: Link 'marker_gripper_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879508434]: Link 'marker_gripper_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879670988]: Link 'marker_head_left' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879769342]: Link 'marker_head_right' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879863547]: Link 'marker_trunk_front' is not known to URDF. Cannot disable collisons.
[ WARN] [1652021720.879959455]: Link 'marker_trunk_back' is not known to URDF. Cannot disable collisons.
[ERROR] [1652021720.880122384]: Joint 'leg_right_flex_1_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1652021720.880262388]: Joint 'leg_right_flex_2_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1652021720.880360828]: Joint 'leg_left_flex_1_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1652021720.880452919]: Joint 'leg_left_flex_2_joint' marked as passive is not known to the URDF. Ignoring.
[ WARN] [1652021721.013189502]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021721.070365120]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021721.161826292]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021721.221172264]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021721.477598251]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021721.672859289]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021722.491224771]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/right_arm/kinematics_solver_attempts' from your configuration.
[ERROR] [1652021722.683215599]: No sensor plugin specified for octomap updater 0; ignoring.
[ WARN] [1652021723.097648562]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021723.289535398]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1652021711.984486267]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1652021711.986767533]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1652021712.590222040]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1652021712.675378327, 0.026000000]: Physics dynamic reconfigure ready.
[ INFO] [1652021715.776229492, 1.394000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1652021715.799149237, 1.394000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1652021715.877403115, 1.394000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1652021715.883329907, 1.394000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1652021716.034216381, 1.394000000]: Loading gazebo_ros_control plugin
[ INFO] [1652021716.036004895, 1.394000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1652021716.036935521, 1.394000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1652021716.546316621, 1.394000000]: Loading PAL HARWARE GAZEBO
[ INFO] [1652021723.343376400, 1.394000000]: Joint mode switching is enabled
[ INFO] [1652021723.448914077, 1.394000000]: Parsed fake FT sensor: left_ankle_ft in frame: leg_left_6_link
      wrist_left_ft_link - arm_left_7_link
[ WARN] [1652021723.457676937]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1652021723.505360087, 1.394000000]: Parsed fake FT sensor: left_wrist_ft in frame: wrist_left_ft_link
[ INFO] [1652021723.512987654, 1.394000000]: Parsed fake FT sensor: right_ankle_ft in frame: leg_right_6_link
      wrist_right_ft_link - arm_right_7_link
[ WARN] [1652021723.568307124]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021723.695800828]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021723.917186602]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1652021724.074044136, 1.395000000]: Called publishAsync but publisher thread has not been started, THIS IS NOT RT safe. You should start it yourself.
[ WARN] [1652021768.905997527, 6.457000000]: Waiting for left_arm_controller/follow_joint_trajectory to come up
[ WARN] [1652021823.458591351, 12.457000000]: Waiting for left_arm_controller/follow_joint_trajectory to come up
[ERROR] [1652021876.017916518, 18.457000000]: Action client not connected: left_arm_controller/follow_joint_trajectory
[ WARN] [1652021920.441594524, 23.472000000]: Waiting for right_arm_controller/follow_joint_trajectory to come up
[ WARN] [1652021973.351357007, 29.472000000]: Waiting for right_arm_controller/follow_joint_trajectory to come up
[ERROR] [1652022026.341761925, 35.472000000]: Action client not connected: right_arm_controller/follow_joint_trajectory
[ WARN] [1652022070.107315943, 40.493000000]: Waiting for head_controller/follow_joint_trajectory to come up
[ WARN] [1652022122.427039580, 46.493000000]: Waiting for head_controller/follow_joint_trajectory to come up
[ERROR] [1652022175.544105766, 52.493000000]: Action client not connected: head_controller/follow_joint_trajectory
[ WARN] [1652022220.219005999, 57.504000000]: Waiting for torso_controller/follow_joint_trajectory to come up
[ WARN] [1652022272.558511617, 63.504000000]: Waiting for torso_controller/follow_joint_trajectory to come up
[ERROR] [1652022326.095863617, 69.504000000]: Action client not connected: torso_controller/follow_joint_trajectory
[ WARN] [1652022370.164173491, 74.518000000]: Waiting for left_gripper_controller/follow_joint_trajectory to come up
[ WARN] [1652022423.347386063, 80.518000000]: Waiting for left_gripper_controller/follow_joint_trajectory to come up
[ERROR] [1652022477.190151780, 86.518000000]: Action client not connected: left_gripper_controller/follow_joint_trajectory
[ WARN] [1652022522.350111238, 91.528000000]: Waiting for right_gripper_controller/follow_joint_trajectory to come up
[ WARN] [1652022575.713847470, 97.528000000]: Waiting for right_gripper_controller/follow_joint_trajectory to come up
[ERROR] [1652022628.796577189, 103.528000000]: Action client not connected: right_gripper_controller/follow_joint_trajectory
[ INFO] [1652021719.242655483]: Loading robot model 'talos'...
[ INFO] [1652021719.242774858]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1652021722.472921866]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1652021722.536348508]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1652021722.536406919]: Starting planning scene monitor
[ INFO] [1652021722.573456375]: Listening to '/planning_scene'
[ INFO] [1652021722.573573059]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1652021722.625491685]: Listening to '/collision_object'
[ INFO] [1652021722.673026816]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1652021722.809035359]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1652021723.112685614]: Initializing OMPL interface using ROS parameters
[ INFO] [1652021724.631033832, 1.442000000]: Using planning interface 'OMPL'
[ INFO] [1652021724.652012001, 1.444000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1652021724.654240337, 1.444000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1652021724.656894979, 1.444000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1652021724.662729887, 1.445000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1652021724.668358512, 1.445000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1652021724.673673914, 1.445000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1652021724.673788157, 1.445000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1652021724.673814940, 1.445000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1652021724.673876792, 1.446000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1652021724.673901165, 1.446000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1652021724.673999915, 1.446000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1652022628.897323759, 103.541000000]: Returned 0 controllers in list
[ INFO] [1652022629.008954342, 103.554000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1652022629.401899247, 103.599000000]:

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

[ INFO] [1652022629.402081158, 103.599000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1652022629.402150693, 103.599000000]: MoveGroup context initialization complete

You can start planning now!

[ERROR] [1652023226.329640663, 194.157000000]: No controller was found for joint 'torso_1_joint'
[ERROR] [1652023226.329704845, 194.157000000]: Motion 'walk_pose' could not be played.
[ERROR] [1652023261.992356484, 198.031000000]: No controller was found for joint 'arm_left_1_joint'
[ERROR] [1652023261.992572631, 198.031000000]: Motion 'wave' could not be played.
[ERROR] [1652023283.334062512, 200.350000000]: No controller was found for joint 'head_1_joint'
[ERROR] [1652023283.334157470, 200.350000000]: Motion 'test_head' could not be played.
[ERROR] [1652023303.436612667, 202.522000000]: No controller was found for joint 'arm_left_1_joint'
[ERROR] [1652023303.436688613, 202.522000000]: Motion 'show_battery' could not be played.