Error Interfacing Shadow hand with UR10 arm #347

Alibinwahid · 2018-10-22T10:39:41Z

I am trying to interface real UR10 arm with Shadow hand. Both of the devices worked well if run separately (for UR10 arm I am using ur_modern_driver is used instead of ur_driver). Simulation also works fine.
The problem arises when running the launch file, I have also set the ip address of robot in config file:
roslaunch sr_robot_launch sr_right_ur10arm_hand.launch sim:=false hand_serial:=2058 eth_port:=enp0s31f6

It gives the following error:
`[ INFO] [1540203895.976080255]: Joint state interface for arm joint ra_wrist_3_joint
[ INFO] [1540203895.991751326]: UrArmController starts communication with robot
[FATAL] [1540203895.994697715]: ASSERTION FAILED
file = /home/handuser/workspace/shadow_robot-kinetic/base/src/sr_ur_arm/sr_ur_robot_hw/src/sr_ur_robot_state_client.cpp
line = 169
cond = 0 == status

[INFO] [1540203896.138573]: waiting for robot_description_semantic
[INFO] [1540203896.180985]: waiting for robot_description_semantic
[ INFO] [1540203896.271852228]: There are no previously stored robot states`

Has anyone experienced the same problem?

The text was updated successfully, but these errors were encountered:

Alibinwahid · 2018-10-22T10:40:49Z

Below is the detailed log output on terminal:
handuser@shadow:~$ roslaunch sr_robot_launch sr_right_ur10arm_hand.launch sim:=false hand_serial:=2058 eth_port:=enp0s31f6
... logging to /home/handuser/.ros/log/b4db68bc-d5e4-11e8-ac78-54ee75e3f322/roslaunch-shadow-10082.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
inconsistent namespace redefinitions for xmlns:xacro:
old: http://ros.org/wiki/xacro
new: http://www.ros.org/wiki/xacro (/home/handuser/workspace/shadow_robot-kinetic/base/src/sr_common/sr_description/hand/xacro/full_hand.urdf.xacro)
redefining global property: pi
when processing file: /home/handuser/workspace/shadow_robot-kinetic/base/src/sr_interface/sr_multi_description/urdf/right_srhand_ur10.urdf.xacro
xacro.py is deprecated; please use xacro instead
started roslaunch server http://shadow:38455/

SUMMARY

PARAMETERS

/arm_checker/controllers: ['ra_sr_ur_robot_...
/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/control_loop/num_items: 1
/diagnostic_aggregator/analyzers/control_loop/path: Realtime Control ...
/diagnostic_aggregator/analyzers/control_loop/startswith: Realtime Control ...
/diagnostic_aggregator/analyzers/control_loop/timeout: 5.0
/diagnostic_aggregator/analyzers/control_loop/type: GenericAnalyzer
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_master/num_items: 1
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_master/path: EtherCAT Master
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_master/regex: EtherCAT Master
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_master/timeout: 5.0
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_master/type: GenericAnalyzer
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_slaves/num_items: 2
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_slaves/path: EtherCAT Slaves
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_slaves/regex: ['SRBridge.*', '(...
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_slaves/timeout: 5.0
/diagnostic_aggregator/analyzers/ethercat/analyzers/EtherCAT_slaves/type: GenericAnalyzer
/diagnostic_aggregator/analyzers/ethercat/path: EtherCat
/diagnostic_aggregator/analyzers/ethercat/type: AnalyzerGroup
/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: ([^\s]+) SRDMotor...
/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: ([^\s]+) SRDMotor...
/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: ([^\s]+) SRDMotor...
/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: ([^\s]+) SRDMotor...
/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: ([^\s]+) Tactile ...
/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: ([^\s]+) SRDMotor...
/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: ([^\s]+) SRDMotor...
/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/2058: rh_
/hand/mapping/2058: rh
/joint_state_controller/publish_rate: 100
/joint_state_controller/type: joint_state_contr...
/mongo_wrapper_ros_shadow_10082_8617752890257620341/database_path: /home/handuser/wo...
/mongo_wrapper_ros_shadow_10082_8617752890257620341/overwrite: False
/ra_sr_ur_robot_hw/control_pc_ip_address: 192.168.1.100
/ra_sr_ur_robot_hw/payload_center_of_mass_m: [0.0, 0.0, 0.12]
/ra_sr_ur_robot_hw/payload_mass_kg: 4.55
/ra_sr_ur_robot_hw/robot_id: ra
/ra_sr_ur_robot_hw/robot_ip_address: 192.168.1.1
/ra_sr_ur_robot_hw/robot_program_path: /home/handuser/wo...
/ra_sr_ur_robot_hw/speed_scale: 0.5
/ra_sr_ur_robot_hw/type: sr_ur_robot_hw/Ur...
/ra_trajectory_controller/allow_partial_joints_goal: True
/ra_trajectory_controller/constraints/goal_time: 0.6
/ra_trajectory_controller/constraints/ra_elbow_joint/goal: 0.1
/ra_trajectory_controller/constraints/ra_elbow_joint/trajectory: 0.3
/ra_trajectory_controller/constraints/ra_shoulder_lift_joint/goal: 0.1
/ra_trajectory_controller/constraints/ra_shoulder_lift_joint/trajectory: 0.3
/ra_trajectory_controller/constraints/ra_shoulder_pan_joint/goal: 0.1
/ra_trajectory_controller/constraints/ra_shoulder_pan_joint/trajectory: 0.3
/ra_trajectory_controller/constraints/ra_wrist_1_joint/goal: 0.1
/ra_trajectory_controller/constraints/ra_wrist_1_joint/trajectory: 0.3
/ra_trajectory_controller/constraints/ra_wrist_2_joint/goal: 0.1
/ra_trajectory_controller/constraints/ra_wrist_2_joint/trajectory: 0.3
/ra_trajectory_controller/constraints/ra_wrist_3_joint/goal: 0.1
/ra_trajectory_controller/constraints/ra_wrist_3_joint/trajectory: 0.3
/ra_trajectory_controller/constraints/rh_WRJ1/goal: 0.4
/ra_trajectory_controller/constraints/rh_WRJ1/trajectory: 0.9
/ra_trajectory_controller/constraints/rh_WRJ2/goal: 0.4
/ra_trajectory_controller/constraints/rh_WRJ2/trajectory: 0.9
/ra_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
/ra_trajectory_controller/joints: ['ra_shoulder_pan...
/ra_trajectory_controller/stop_trajectory_duration: 0.5
/ra_trajectory_controller/type: position_controll...
/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', [[3596....
/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: 170
/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: 250
/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: 200
/rh/wrj2/pid/torque_limiter_gain: 64
/rh/wrj2/pos_filter/tau: 0.05
/rh_trajectory_controller/exclude_wrist: True
/rh_trajectory_controller/hand_trajectory: True
/rh_trajectory_controller/wait_for: /calibrated
/robot/manipulators/right_manipulator/arm/extra_groups_config_path: /config
/robot/manipulators/right_manipulator/arm/group_states: ['home', 'up']
/robot/manipulators/right_manipulator/arm/main_group: manipulator
/robot/manipulators/right_manipulator/arm/moveit_path/package: sr_multi_moveit_c...
/robot/manipulators/right_manipulator/arm/moveit_path/relative_path: /config/ur
/robot/manipulators/right_manipulator/arm/name: ur10
/robot/manipulators/right_manipulator/hand/name: shadowhand_motor....
/robot/manipulators/right_manipulator/side: right
/robot/name: ur10srh
/robot_description: <?xml version="1....
/robot_hardware: ['unique_robot_hw...
/robot_state_publisher/publish_frequency: 100.0
/robot_state_publisher/tf_prefix:
/rosdistro: kinetic
/rosversion: 1.12.13
/sh_rh_ffj0_effort_controller/friction_deadband: 5
/sh_rh_ffj0_effort_controller/joint: rh_FFJ0
/sh_rh_ffj0_effort_controller/max_force: 700
/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: -3900.0
/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: 700
/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: 270.0
/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: 6500.0
/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: 700
/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: -240.0
/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: 300.0
/sh_rh_ffj4_position_controller/pid/p: -7300.0
/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: 700
/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: 3700.0
/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: 700
/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: -270.0
/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: -6700.0
/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: 700
/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: 270.0
/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: 300.0
/sh_rh_lfj4_position_controller/pid/p: 7500.0
/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: 700
/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: 220.0
/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: 500.0
/sh_rh_lfj5_position_controller/pid/p: 7100.0
/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: 700
/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: -4700.0
/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: 700
/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: 270.0
/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: 6900.0
/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: 700
/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: -250.0
/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: 300.0
/sh_rh_mfj4_position_controller/pid/p: -7100.0
/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: 700
/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: -3500.0
/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: 700
/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: 280.0
/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: 6700.0
/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: 700
/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: 300.0
/sh_rh_rfj4_position_controller/pid/p: -7700.0
/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: 700
/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: 6100.0
/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: 700
/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: 270.0
/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: 700
/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: -270.0
/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: 300.0
/sh_rh_thj3_position_controller/pid/p: -6900.0
/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: 700
/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: 330.0
/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: 500.0
/sh_rh_thj4_position_controller/pid/p: 6900.0
/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: 700
/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: 320.0
/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: 700
/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: 260.0
/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: 8100.0
/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: 700
/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: -90.0
/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: 500.0
/sh_rh_wrj2_position_controller/pid/p: -9900.0
/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_hand_robot/image_path: /home/handuser/wo...
/sr_hand_robot/rh/default_control_mode: PWM
/sr_hand_robot/use_ns: True
/sr_rh_tactile_sensor_controller/prefix: rh
/sr_rh_tactile_sensor_controller/publish_rate: 100
/sr_rh_tactile_sensor_controller/type: sr_tactile_sensor...
/unique_robot_hw/ethercat_port: enp0s31f6
/unique_robot_hw/joint_filter: ['rh_']
/unique_robot_hw/robot_description_param: robot_description
/unique_robot_hw/type: ros_ethercat_mode...
/use_sim_time: False
/warehouse_exec: mongod
/warehouse_host: localhost
/warehouse_plugin: warehouse_ros_mon...
/warehouse_port: 33829

NODES
/robot_description_kinematics/
load_kinematics (sr_multi_moveit_config/generate_load_moveit_config.py)
/robot_description_planning/
load_joint_limits (sr_multi_moveit_config/generate_load_moveit_config.py)
/
arm_checker (sr_robot_launch/check_arms_ready)
arm_trajectory_controller_spawner (controller_manager/spawner)
calibrate_sr_edc (sr_utilities/calibrate_hand_finder.py)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
generate_robot_srdf (sr_multi_moveit_config/generate_robot_srdf.py)
joint_0_pub (sr_utilities/joint_0_publisher.py)
joint_state_controller_spawner (controller_manager/spawner)
mongo_wrapper_ros_shadow_10082_8617752890257620341 (warehouse_ros_mongo/mongo_wrapper_ros.py)
moveit_warehouse_services (moveit_ros_warehouse/moveit_warehouse_services)
rh_trajectory_controller (sr_utilities/trajectory_controller_spawner.py)
robot_state_publisher (robot_state_publisher/state_publisher)
sr_hand_robot (ros_control_robot/ros_control_robot)
sr_rh_tactile_sensor_controller_spawner (controller_manager/spawner)
teach_mode_node (sr_robot_launch/teach_mode_node)
timed_roslaunch (sr_utilities_common/timed_roslaunch.sh)
timed_roslaunch_rviz (sr_utilities_common/timed_roslaunch.sh)

auto-starting new master
process[master]: started with pid [10109]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b4db68bc-d5e4-11e8-ac78-54ee75e3f322
process[rosout-1]: started with pid [10129]
started core service [/rosout]
process[joint_0_pub-2]: started with pid [10146]
process[sr_hand_robot-3]: started with pid [10147]
process[calibrate_sr_edc-4]: started with pid [10150]
process[diagnostic_aggregator-5]: started with pid [10151]
process[joint_state_controller_spawner-6]: started with pid [10157]
process[robot_state_publisher-7]: started with pid [10163]
process[sr_rh_tactile_sensor_controller_spawner-8]: started with pid [10168]
process[teach_mode_node-9]: started with pid [10180]
process[arm_checker-10]: started with pid [10189]
process[arm_trajectory_controller_spawner-11]: started with pid [10197]
process[generate_robot_srdf-12]: started with pid [10206]
process[robot_description_planning/load_joint_limits-13]: started with pid [10207]
process[robot_description_kinematics/load_kinematics-14]: started with pid [10221]
process[timed_roslaunch-15]: started with pid [10224]
process[timed_roslaunch_rviz-16]: started with pid [10226]
process[mongo_wrapper_ros_shadow_10082_8617752890257620341-17]: started with pid [10228]
process[moveit_warehouse_services-18]: started with pid [10229]
process[rh_trajectory_controller-19]: started with pid [10233]
[ INFO] [1540203894.838704474]: Robot State Name: unique_robot_hw
[ WARN] [1540203895.124601037]: Using device '
SRBridge - Bridge EtherCAT between palm (sensors data) EtherCAT and Motor Control EtherCAT
' with product code 0
[ INFO] [1540203895.131711270]: Shadow Bridge configure - 0 @ 0
[ WARN] [1540203895.132208098]: Using device '
SR06 etherCAT driver
' with product code 6
[ INFO] [1540203895.133985590]: Trying to read mapping for: /hand/mapping/2058
[ INFO] [1540203895.149951269]: Using namespace in sr_edc
[ INFO] [1540203895.192479622]: Trying to read joint_prefix for: /hand/joint_prefix/2058
[ INFO] [1540203895.201114577]: First FMMU (command) : start_address : 0x00010000 ; size : 70 bytes ; phy addr : 0x00001000
[ INFO] [1540203895.201275286]: Second FMMU (status) : start_address : 0x00010046 ; size : 232 bytes ; phy addr : 0x00001046
[ INFO] [1540203895.201426745]: status_size_ : 232 ; command_size_ : 70
[ INFO] [1540203895.201514968]: Finished constructing the SR06 driver
[ INFO] [1540203895.269855070]: Connecting to warehouse on localhost:33829
2018-10-22T18:24:55.270+0800 warning: Failed to connect to 127.0.0.1:33829, reason: errno:111 Connection refused
[INFO] [1540203895.278291]: waiting for the controller manager
[ INFO] [1540203895.315437215]: bridge port type: EBUS
[WARN] [1540203895.361754]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1540203895.362128]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1540203895.451490]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1540203895.451867]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1540203895.500575]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1540203895.501030]: Controller Spawner: Waiting for service controller_manager/load_controller
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Unknown tag: sensor
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[ INFO] [1540203895.840661049]: Using PWM control.
[ INFO] [1540203895.950608180]: ETHERCAT_STATUS_DATA_SIZE = 220 bytes
[ INFO] [1540203895.950643881]: ETHERCAT_COMMAND_DATA_SIZE = 58 bytes
[ INFO] [1540203895.950660922]: ETHERCAT_CAN_BRIDGE_DATA_SIZE = 12 bytes
[ INFO] [1540203895.961514575]: Added Ethernet port enp0s31f6
[ INFO] [1540203895.961622365]: IMU State Interface for IMU rh_imu
[ INFO] [1540203895.961791124]: Joint state interface for hand joint rh_THJ4
[ INFO] [1540203895.961993601]: Joint state interface for hand joint rh_THJ2
[ INFO] [1540203895.962057182]: Joint state interface for hand joint rh_THJ1
[ INFO] [1540203895.962090646]: Joint state interface for hand joint rh_RFJ4
[ INFO] [1540203895.962127013]: Joint state interface for hand joint rh_WRJ2
[ INFO] [1540203895.962166461]: Joint state interface for hand joint rh_MFJ4
[ INFO] [1540203895.962195785]: Joint state interface for hand joint rh_THJ3
[ INFO] [1540203895.962230391]: Joint state interface for hand joint rh_MFJ2
[ INFO] [1540203895.962259656]: Joint state interface for hand joint rh_MFJ1
[ INFO] [1540203895.962286813]: Joint state interface for hand joint rh_MFJ3
[ INFO] [1540203895.962314558]: Joint state interface for hand joint rh_WRJ1
[ INFO] [1540203895.962341687]: Joint state interface for hand joint rh_LFJ5
[ INFO] [1540203895.962395378]: Joint state interface for hand joint rh_LFJ4
[ INFO] [1540203895.962438426]: Joint state interface for hand joint rh_LFJ3
[ INFO] [1540203895.962466986]: Joint state interface for hand joint rh_LFJ2
[ INFO] [1540203895.962494887]: Joint state interface for hand joint rh_RFJ2
[ INFO] [1540203895.962520394]: Joint state interface for hand joint rh_LFJ1
[ INFO] [1540203895.962548723]: Joint state interface for hand joint rh_RFJ1
[ INFO] [1540203895.962576214]: Joint state interface for hand joint rh_FFJ4
[ INFO] [1540203895.962603123]: Joint state interface for hand joint rh_THJ5
[ INFO] [1540203895.962632198]: Joint state interface for hand joint rh_RFJ3
[ INFO] [1540203895.962660143]: Joint state interface for hand joint rh_FFJ1
[ INFO] [1540203895.962685929]: Joint state interface for hand joint rh_FFJ2
[ INFO] [1540203895.962713923]: Joint state interface for hand joint rh_FFJ3
[ INFO] [1540203895.975805403]: Joint state interface for arm joint ra_shoulder_pan_joint
[ INFO] [1540203895.975920511]: Joint state interface for arm joint ra_shoulder_lift_joint
[ INFO] [1540203895.975965223]: Joint state interface for arm joint ra_elbow_joint
[ INFO] [1540203895.976001763]: Joint state interface for arm joint ra_wrist_1_joint
[ INFO] [1540203895.976040611]: Joint state interface for arm joint ra_wrist_2_joint
[ INFO] [1540203895.976080255]: Joint state interface for arm joint ra_wrist_3_joint
[ INFO] [1540203895.991751326]: UrArmController starts communication with robot
[FATAL] [1540203895.994697715]: ASSERTION FAILED
file = /home/handuser/workspace/shadow_robot-kinetic/base/src/sr_ur_arm/sr_ur_robot_hw/src/sr_ur_robot_state_client.cpp
line = 169
cond = 0 == status

[INFO] [1540203896.138573]: waiting for robot_description_semantic
[INFO] [1540203896.180985]: waiting for robot_description_semantic
[ INFO] [1540203896.271852228]: There are no previously stored robot states
[sr_hand_robot-3] process has died [pid 10147, exit code -5, cmd ethercat_grant /home/handuser/workspace/shadow_robot-kinetic/base/devel/lib/ros_control_robot/ros_control_robot __name:=sr_hand_robot _log:=/home/handuser/.ros/log/b4db68bc-d5e4-11e8-ac78-54ee75e3f322/sr_hand_robot-3.log].
log file: /home/handuser/.ros/log/b4db68bc-d5e4-11e8-ac78-54ee75e3f322/sr_hand_robot-3*.log
[INFO] [1540203896.640726]: waiting for robot_description_semantic
[INFO] [1540203896.683667]: waiting for robot_description_semantic
[INFO] [1540203897.142621]: waiting for robot_description_semantic
[INFO] [1540203897.185247]: waiting for robot_description_semantic
[INFO] [1540203897.644673]: waiting for robot_description_semantic
[INFO] [1540203897.687228]: waiting for robot_description_semantic
[INFO] [1540203898.146712]: waiting for robot_description_semantic
[INFO] [1540203898.189049]: waiting for robot_description_semantic
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Unknown tag: sensor
[INFO] [1540203898.281571]: Found prefix:rh
[INFO] [1540203898.337158]: File loaded /home/handuser/workspace/shadow_robot-kinetic/base/src/sr_interface/sr_moveit_hand_config/config/shadowhands_prefix.srdf.xacro
[INFO] [1540203898.648740]: waiting for robot_description_semantic
[INFO] [1540203898.691122]: waiting for robot_description_semantic
[INFO] [1540203899.150814]: waiting for robot_description_semantic
[INFO] [1540203899.193062]: waiting for robot_description_semantic
[INFO] [1540203899.653030]: waiting for robot_description_semantic
[INFO] [1540203899.695070]: waiting for robot_description_semantic
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Unknown tag: sensor
[INFO] [1540203899.744942]: Loading SRDF on parameter server
[INFO] [1540203899.770323]: generated_robot.srdf has been generated and saved.
[generate_robot_srdf-12] process has finished cleanly
log file: /home/handuser/.ros/log/b4db68bc-d5e4-11e8-ac78-54ee75e3f322/generate_robot_srdf-12*.log
[INFO] [1540203900.155711]: waiting for robot_description_semantic
[INFO] [1540203900.197082]: waiting for robot_description_semantic
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Scalar element defined multiple times: collision
Unknown tag: secondJoint
Scalar element defined multiple times: collision
Unknown tag: sensor
[INFO] [1540203900.485464]: Successfully loaded kinematics params
[INFO] [1540203900.580826]: Successfully loaded joint_limits params
[robot_description_kinematics/load_kinematics-14] process has finished cleanly
log file: /home/handuser/.ros/log/b4db68bc-d5e4-11e8-ac78-54ee75e3f322/robot_description_kinematics-load_kinematics-14*.log
[robot_description_planning/load_joint_limits-13] process has finished cleanly
log file: /home/handuser/.ros/log/b4db68bc-d5e4-11e8-ac78-54ee75e3f322/robot_description_planning-load_joint_limits-13*.log
... logging to /home/handuser/.ros/log/b4db68bc-d5e4-11e8-ac78-54ee75e3f322/roslaunch-shadow-11161.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt

biofotis · 2021-03-23T11:36:27Z

Have you tried defining the robot_type:=ur10?
The default is ur10e so make sure you update the right config file as well

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Error Interfacing Shadow hand with UR10 arm #347

Error Interfacing Shadow hand with UR10 arm #347

Alibinwahid commented Oct 22, 2018

Alibinwahid commented Oct 22, 2018

biofotis commented Mar 23, 2021

Error Interfacing Shadow hand with UR10 arm #347

Error Interfacing Shadow hand with UR10 arm #347

Comments

Alibinwahid commented Oct 22, 2018

Alibinwahid commented Oct 22, 2018

SUMMARY

biofotis commented Mar 23, 2021