sdf.log

Dbg [parser.cc:356] No <sdf> element in file[test.urdf]
Dbg [parser_urdf.cc:1323] extension [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin></sensor>] not converted from URDF, probably already in SDF format.
Dbg [parser_urdf.cc:1323] extension [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>] not converted from URDF, probably already in SDF format.
Dbg [parser_urdf.cc:1323] extension [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>] not converted from URDF, probably already in SDF format.
Dbg [parser_urdf.cc:1323] extension [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>] not converted from URDF, probably already in SDF format.
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [camera] to [yaw]
Dbg [parser_urdf.cc:1897]   REDUCE EXTENSION: moving reference from [camera] to [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [camera]-->[yaw]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [camera]-->[yaw]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [camera]-->[yaw]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [camera] with [yaw]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [camera]-->[yaw]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: yaw] from dMass
Dbg [parser_urdf.cc:636]      MASS: [4.689]
Dbg [parser_urdf.cc:637]        CG: [-0.001, 0.095791, 0.018273]
Dbg [parser_urdf.cc:639]         I: [0.0715915, 0.000608864, -0.000131718]
Dbg [parser_urdf.cc:641]            [0.000608864, 0.0105704, -0.0112076]
Dbg [parser_urdf.cc:643]            [-0.000131718, -0.0112076, 0.0690306]
Dbg [parser_urdf.cc:635] LINK NAME: [link : camera] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.869]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.001, -0.0001561, -5.859e-05]
Dbg [parser_urdf.cc:641]            [-0.0001561, 0.002, 3.295e-05]
Dbg [parser_urdf.cc:643]            [-5.859e-05, 3.295e-05, 0.002]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: camera] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.869]
Dbg [parser_urdf.cc:637]        CG: [-0.007, 0.16313, 0.213232]
Dbg [parser_urdf.cc:639]         I: [0.0646369, 0.00111103, 0.00119051]
Dbg [parser_urdf.cc:641]            [0.00111103, 0.0407535, -0.029824]
Dbg [parser_urdf.cc:643]            [0.00119051, -0.029824, 0.0249686]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: yaw] from dMass
Dbg [parser_urdf.cc:636]      MASS: [5.558]
Dbg [parser_urdf.cc:637]        CG: [-0.00193811, 0.10632, 0.0487551]
Dbg [parser_urdf.cc:639]         I: [0.136228, 0.0017199, 0.00105879]
Dbg [parser_urdf.cc:641]            [0.0017199, 0.0513238, -0.0410316]
Dbg [parser_urdf.cc:643]            [0.00105879, -0.0410316, 0.0939992]
Dbg [parser_urdf.cc:651] LINK NAME: [yaw] from dMass
Dbg [parser_urdf.cc:652]      MASS: [5.558]
Dbg [parser_urdf.cc:653]        CG: [-0.00193811, 0.10632, 0.0487551]
Dbg [parser_urdf.cc:656]         I: [0.06019, 0.000574621, 0.000533597]
Dbg [parser_urdf.cc:659]            [0.000574621, 0.0380912, -0.0122211]
Dbg [parser_urdf.cc:662]            [0.000533597, -0.0122211, 0.0311515]
Dbg [parser_urdf.cc:848] adding modified lump group name [lump::camera] to link [yaw].
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::camera]
Dbg [parser_urdf.cc:906] lumping collision [default] for link [camera] to parent [yaw] with group name [lump::camera]
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [finger_middle_link_0] to [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [finger_middle_link_0]-->[palm]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [finger_middle_link_0]-->[palm]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [finger_middle_link_0]-->[palm]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [finger_middle_link_0] with [palm]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [finger_middle_link_0]-->[palm]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: palm] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0, 0, 0]
Dbg [parser_urdf.cc:641]            [0, 0, 0]
Dbg [parser_urdf.cc:643]            [0, 0, 0]
Dbg [parser_urdf.cc:635] LINK NAME: [link : finger_middle_link_0] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.01, -2e-05, 1e-05]
Dbg [parser_urdf.cc:641]            [-2e-05, 0.0008, 0]
Dbg [parser_urdf.cc:643]            [1e-05, 0, 0.001]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: finger_middle_link_0] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0.0455, 0.0214, 0]
Dbg [parser_urdf.cc:639]         I: [0.000822936, -2.13588e-05, 7.96327e-09]
Dbg [parser_urdf.cc:641]            [-2.13588e-05, 0.0101035, 1e-05]
Dbg [parser_urdf.cc:643]            [7.96327e-09, 1e-05, 0.00112641]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: palm] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0.0455, 0.0214, 0]
Dbg [parser_urdf.cc:639]         I: [0.000822936, -2.13588e-05, 7.96327e-09]
Dbg [parser_urdf.cc:641]            [-2.13588e-05, 0.0101035, 1e-05]
Dbg [parser_urdf.cc:643]            [7.96327e-09, 1e-05, 0.00112641]
Dbg [parser_urdf.cc:651] LINK NAME: [palm] from dMass
Dbg [parser_urdf.cc:652]      MASS: [0.05]
Dbg [parser_urdf.cc:653]        CG: [0.0455, 0.0214, 0]
Dbg [parser_urdf.cc:656]         I: [0.000800038, 2.73262e-05, 7.96327e-09]
Dbg [parser_urdf.cc:659]            [2.73262e-05, 0.00999996, 1e-05]
Dbg [parser_urdf.cc:662]            [7.96327e-09, 1e-05, 0.001]
Dbg [parser_urdf.cc:848] adding modified lump group name [lump::finger_middle_link_0] to link [palm].
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:906] lumping collision [default] for link [finger_middle_link_0] to parent [palm] with group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [palm] to [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [palm]-->[ft_end_effector]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [palm]-->[ft_end_effector]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [palm]-->[ft_end_effector]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [palm] with [ft_end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [palm]-->[ft_end_effector]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: ft_end_effector] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0, 0, 0]
Dbg [parser_urdf.cc:641]            [0, 0, 0]
Dbg [parser_urdf.cc:643]            [0, 0, 0]
Dbg [parser_urdf.cc:635] LINK NAME: [link : palm] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.000800038, 2.73262e-05, 7.96327e-09]
Dbg [parser_urdf.cc:641]            [2.73262e-05, 0.00999996, 1e-05]
Dbg [parser_urdf.cc:643]            [7.96327e-09, 1e-05, 0.001]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: palm] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0.0455, 0.0754, 0]
Dbg [parser_urdf.cc:639]         I: [0.0010843, -0.000144209, 7.96327e-09]
Dbg [parser_urdf.cc:641]            [-0.000144209, 0.0101035, 1e-05]
Dbg [parser_urdf.cc:643]            [7.96327e-09, 1e-05, 0.00138777]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: ft_end_effector] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0.0455, 0.0754, 0]
Dbg [parser_urdf.cc:639]         I: [0.0010843, -0.000144209, 7.96327e-09]
Dbg [parser_urdf.cc:641]            [-0.000144209, 0.0101035, 1e-05]
Dbg [parser_urdf.cc:643]            [7.96327e-09, 1e-05, 0.00138777]
Dbg [parser_urdf.cc:651] LINK NAME: [ft_end_effector] from dMass
Dbg [parser_urdf.cc:652]      MASS: [0.05]
Dbg [parser_urdf.cc:653]        CG: [0.0455, 0.0754, 0]
Dbg [parser_urdf.cc:656]         I: [0.000800038, 2.73262e-05, 7.96327e-09]
Dbg [parser_urdf.cc:659]            [2.73262e-05, 0.00999996, 1e-05]
Dbg [parser_urdf.cc:662]            [7.96327e-09, 1e-05, 0.001]
Dbg [parser_urdf.cc:848] adding modified lump group name [lump::palm] to link [ft_end_effector].
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::palm]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::finger_middle_link_0] to link [ft_end_effector]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:906] lumping collision [default] for link [palm] to parent [ft_end_effector] with group name [lump::palm]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::finger_middle_link_0] for link [palm] to parent [ft_end_effector] with group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [ft_end_effector] to [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_end_effector]-->[ft_robotiq_plate]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_end_effector]-->[ft_robotiq_plate]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_end_effector]-->[ft_robotiq_plate]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_end_effector] with [ft_robotiq_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_end_effector]-->[ft_robotiq_plate]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: ft_robotiq_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.2304]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0.005644]
Dbg [parser_urdf.cc:639]         I: [0.000101639, 0, 0]
Dbg [parser_urdf.cc:641]            [0, 0.000101639, 0]
Dbg [parser_urdf.cc:643]            [0, 0, 0.0001837]
Dbg [parser_urdf.cc:635] LINK NAME: [link : ft_end_effector] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.000800038, 2.73262e-05, 7.96327e-09]
Dbg [parser_urdf.cc:641]            [2.73262e-05, 0.00999996, 1e-05]
Dbg [parser_urdf.cc:643]            [7.96327e-09, 1e-05, 0.001]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: ft_end_effector] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.05]
Dbg [parser_urdf.cc:637]        CG: [0.0455, 3.69203e-13, -0.0754]
Dbg [parser_urdf.cc:639]         I: [0.0010843, 7.96327e-09, 0.000144209]
Dbg [parser_urdf.cc:641]            [7.96327e-09, 0.00138777, -1e-05]
Dbg [parser_urdf.cc:643]            [0.000144209, -1e-05, 0.0101035]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: ft_robotiq_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.2804]
Dbg [parser_urdf.cc:637]        CG: [0.00811341, 6.5835e-14, -0.0088075]
Dbg [parser_urdf.cc:639]         I: [0.00118594, 7.96327e-09, 0.000144209]
Dbg [parser_urdf.cc:641]            [7.96327e-09, 0.00148941, -1e-05]
Dbg [parser_urdf.cc:643]            [0.000144209, -1e-05, 0.0102872]
Dbg [parser_urdf.cc:651] LINK NAME: [ft_robotiq_plate] from dMass
Dbg [parser_urdf.cc:652]      MASS: [0.2804]
Dbg [parser_urdf.cc:653]        CG: [0.00811341, 6.5835e-14, -0.0088075]
Dbg [parser_urdf.cc:656]         I: [0.00116418, 7.96327e-09, 0.000124172]
Dbg [parser_urdf.cc:659]            [7.96327e-09, 0.0014492, -1e-05]
Dbg [parser_urdf.cc:662]            [0.000124172, -1e-05, 0.0102687]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::finger_middle_link_0] to link [ft_robotiq_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::palm] to link [ft_robotiq_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::palm]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::finger_middle_link_0] for link [ft_end_effector] to parent [ft_robotiq_plate] with group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::palm] for link [ft_end_effector] to parent [ft_robotiq_plate] with group name [lump::palm]
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [ft_robotiq_plate] to [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_robotiq_plate]-->[ft_sensor]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_robotiq_plate]-->[ft_sensor]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_robotiq_plate]-->[ft_sensor]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_robotiq_plate] with [ft_sensor]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_robotiq_plate]-->[ft_sensor]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: ft_sensor] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.2396]
Dbg [parser_urdf.cc:637]        CG: [0.0009396, 0.017, -0.0007545]
Dbg [parser_urdf.cc:639]         I: [0.000174881, -4.55338e-06, 6.35586e-06]
Dbg [parser_urdf.cc:641]            [-4.55338e-06, 0.000170348, 3.72613e-06]
Dbg [parser_urdf.cc:643]            [6.35586e-06, 3.72613e-06, 0.000177056]
Dbg [parser_urdf.cc:635] LINK NAME: [link : ft_robotiq_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.2804]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.00116418, 7.96327e-09, 0.000124172]
Dbg [parser_urdf.cc:641]            [7.96327e-09, 0.0014492, -1e-05]
Dbg [parser_urdf.cc:643]            [0.000124172, -1e-05, 0.0102687]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: ft_robotiq_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.2804]
Dbg [parser_urdf.cc:637]        CG: [0.00811341, -0.0198075, -1.08962e-13]
Dbg [parser_urdf.cc:639]         I: [0.0012742, 0.000169234, -7.96327e-09]
Dbg [parser_urdf.cc:641]            [0.000169234, 0.0102872, 1e-05]
Dbg [parser_urdf.cc:643]            [-7.96327e-09, 1e-05, 0.00157767]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: ft_sensor] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.52]
Dbg [parser_urdf.cc:637]        CG: [0.00480794, -0.00284774, -0.00034765]
Dbg [parser_urdf.cc:639]         I: [0.00144908, 0.00016468, 6.3479e-06]
Dbg [parser_urdf.cc:641]            [0.00016468, 0.0104575, 1.37261e-05]
Dbg [parser_urdf.cc:643]            [6.3479e-06, 1.37261e-05, 0.00175473]
Dbg [parser_urdf.cc:651] LINK NAME: [ft_sensor] from dMass
Dbg [parser_urdf.cc:652]      MASS: [0.52]
Dbg [parser_urdf.cc:653]        CG: [0.00480794, -0.00284774, -0.00034765]
Dbg [parser_urdf.cc:656]         I: [0.0014448, 0.000157561, 5.47873e-06]
Dbg [parser_urdf.cc:659]            [0.000157561, 0.0104454, 1.42409e-05]
Dbg [parser_urdf.cc:662]            [5.47873e-06, 1.42409e-05, 0.00173849]
Dbg [parser_urdf.cc:848] adding modified lump group name [lump::ft_robotiq_plate] to link [ft_sensor].
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::finger_middle_link_0] to link [ft_sensor]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::palm] to link [ft_sensor]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::palm]
Dbg [parser_urdf.cc:906] lumping collision [default] for link [ft_robotiq_plate] to parent [ft_sensor] with group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::finger_middle_link_0] for link [ft_robotiq_plate] to parent [ft_sensor] with group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::palm] for link [ft_robotiq_plate] to parent [ft_sensor] with group name [lump::palm]
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [ft_sensor] to [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_sensor]-->[ft_wrist_plate]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_sensor]-->[ft_wrist_plate]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_sensor]-->[ft_wrist_plate]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_sensor] with [ft_wrist_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_sensor]-->[ft_wrist_plate]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: ft_wrist_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.1478]
Dbg [parser_urdf.cc:637]        CG: [-5.7e-05, 1.648e-08, 0.017057]
Dbg [parser_urdf.cc:639]         I: [8.98611e-05, 1.38837e-13, 1.43698e-07]
Dbg [parser_urdf.cc:641]            [1.38837e-13, 8.96316e-05, -4.15465e-11]
Dbg [parser_urdf.cc:643]            [1.43698e-07, -4.15465e-11, 8.28905e-05]
Dbg [parser_urdf.cc:635] LINK NAME: [link : ft_sensor] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.52]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.0014448, 0.000157561, 5.47873e-06]
Dbg [parser_urdf.cc:641]            [0.000157561, 0.0104454, 1.42409e-05]
Dbg [parser_urdf.cc:643]            [5.47873e-06, 1.42409e-05, 0.00173849]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: ft_sensor] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.52]
Dbg [parser_urdf.cc:637]        CG: [0.00480794, -0.00034765, 0.0592477]
Dbg [parser_urdf.cc:639]         I: [0.00327021, 6.3479e-06, -0.000305688]
Dbg [parser_urdf.cc:641]            [6.3479e-06, 0.00357586, -3.53024e-06]
Dbg [parser_urdf.cc:643]            [-0.000305688, -3.53024e-06, 0.0104575]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: ft_wrist_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.6678]
Dbg [parser_urdf.cc:637]        CG: [0.00373121, -0.000270703, 0.0499099]
Dbg [parser_urdf.cc:639]         I: [0.00336007, 6.3479e-06, -0.000305544]
Dbg [parser_urdf.cc:641]            [6.3479e-06, 0.00366549, -3.53028e-06]
Dbg [parser_urdf.cc:643]            [-0.000305544, -3.53028e-06, 0.0105404]
Dbg [parser_urdf.cc:651] LINK NAME: [ft_wrist_plate] from dMass
Dbg [parser_urdf.cc:652]      MASS: [0.6678]
Dbg [parser_urdf.cc:653]        CG: [0.00373121, -0.000270703, 0.0499099]
Dbg [parser_urdf.cc:656]         I: [0.00169653, 5.67338e-06, -0.000181183]
Dbg [parser_urdf.cc:659]            [5.67338e-06, 0.00199271, -1.25528e-05]
Dbg [parser_urdf.cc:662]            [-0.000181183, -1.25528e-05, 0.0105311]
Dbg [parser_urdf.cc:848] adding modified lump group name [lump::ft_sensor] to link [ft_wrist_plate].
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_sensor]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::finger_middle_link_0] to link [ft_wrist_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::ft_robotiq_plate] to link [ft_wrist_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::palm] to link [ft_wrist_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::palm]
Dbg [parser_urdf.cc:906] lumping collision [default] for link [ft_sensor] to parent [ft_wrist_plate] with group name [lump::ft_sensor]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::finger_middle_link_0] for link [ft_sensor] to parent [ft_wrist_plate] with group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::ft_robotiq_plate] for link [ft_sensor] to parent [ft_wrist_plate] with group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::palm] for link [ft_sensor] to parent [ft_wrist_plate] with group name [lump::palm]
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [ft_wrist_plate] to [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_wrist_plate]-->[ft_kraft_plate]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_wrist_plate]-->[ft_kraft_plate]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_wrist_plate]-->[ft_kraft_plate]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_wrist_plate] with [ft_kraft_plate]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_wrist_plate]-->[ft_kraft_plate]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: ft_kraft_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.059]
Dbg [parser_urdf.cc:637]        CG: [-0.000192, 1.769e-09, 0.006143]
Dbg [parser_urdf.cc:639]         I: [1.11315e-05, 2.00392e-14, 1.14678e-07]
Dbg [parser_urdf.cc:641]            [2.00392e-14, 1.10166e-05, -6.41151e-13]
Dbg [parser_urdf.cc:643]            [1.14678e-07, -6.41151e-13, 1.42122e-05]
Dbg [parser_urdf.cc:635] LINK NAME: [link : ft_wrist_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.6678]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.00169653, 5.67338e-06, -0.000181183]
Dbg [parser_urdf.cc:641]            [5.67338e-06, 0.00199271, -1.25528e-05]
Dbg [parser_urdf.cc:643]            [-0.000181183, -1.25528e-05, 0.0105311]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: ft_wrist_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.6678]
Dbg [parser_urdf.cc:637]        CG: [0.00373121, -0.000270703, 0.0499099]
Dbg [parser_urdf.cc:639]         I: [0.00336007, 6.3479e-06, -0.000305544]
Dbg [parser_urdf.cc:641]            [6.3479e-06, 0.00366549, -3.53028e-06]
Dbg [parser_urdf.cc:643]            [-0.000305544, -3.53028e-06, 0.0105404]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: ft_kraft_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.7268]
Dbg [parser_urdf.cc:637]        CG: [0.00341273, -0.000248728, 0.046357]
Dbg [parser_urdf.cc:639]         I: [0.0033712, 6.3479e-06, -0.000305429]
Dbg [parser_urdf.cc:641]            [6.3479e-06, 0.00367651, -3.53028e-06]
Dbg [parser_urdf.cc:643]            [-0.000305429, -3.53028e-06, 0.0105546]
Dbg [parser_urdf.cc:651] LINK NAME: [ft_kraft_plate] from dMass
Dbg [parser_urdf.cc:652]      MASS: [0.7268]
Dbg [parser_urdf.cc:653]        CG: [0.00341273, -0.000248728, 0.046357]
Dbg [parser_urdf.cc:656]         I: [0.00180929, 5.73096e-06, -0.000190446]
Dbg [parser_urdf.cc:659]            [5.73096e-06, 0.00210617, -1.19105e-05]
Dbg [parser_urdf.cc:662]            [-0.000190446, -1.19105e-05, 0.0105461]
Dbg [parser_urdf.cc:848] adding modified lump group name [lump::ft_wrist_plate] to link [ft_kraft_plate].
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_wrist_plate]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::finger_middle_link_0] to link [ft_kraft_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::ft_robotiq_plate] to link [ft_kraft_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::ft_sensor] to link [ft_kraft_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_sensor]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::palm] to link [ft_kraft_plate]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::palm]
Dbg [parser_urdf.cc:906] lumping collision [default] for link [ft_wrist_plate] to parent [ft_kraft_plate] with group name [lump::ft_wrist_plate]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::finger_middle_link_0] for link [ft_wrist_plate] to parent [ft_kraft_plate] with group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::ft_robotiq_plate] for link [ft_wrist_plate] to parent [ft_kraft_plate] with group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::ft_sensor] for link [ft_wrist_plate] to parent [ft_kraft_plate] with group name [lump::ft_sensor]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::palm] for link [ft_wrist_plate] to parent [ft_kraft_plate] with group name [lump::palm]
Dbg [parser_urdf.cc:370] Fixed Joint Reduction: extension lumping from [ft_kraft_plate] to [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_kraft_plate]-->[end_effector]: [<plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor"><updateRate>100.0</updateRate><topicName>ft_sensor</topicName><jointName>WR</jointName></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_kraft_plate]-->[end_effector]: [<plugin filename="libgazebo_ros_control.so" name="ros_control"><robotNamespace>/grips_robotiq</robotNamespace></plugin>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_kraft_plate]-->[end_effector]: [<sensor type="force_torque"><always_on>1</always_on><update_rate>100.0</update_rate><visualize>1</visualize><force_torque name="ft_sensor"><frame>child</frame></force_torque></sensor>]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1961]   STRING REPLACE: instances of _link name [ft_kraft_plate] with [end_effector]
Dbg [parser_urdf.cc:1970]         INITIAL STRING link [ft_kraft_plate]-->[end_effector]: [<sensor name="camera" type="camera"><update_rate>30.0</update_rate><camera name="camera"><horizontal_fov>1.3962634</horizontal_fov><image><width>800</width><height>800</height><format>R8G8B8</format></image><clip><near>0.02</near><far>300</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="camera_controller"><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>camera</cameraName><imageTopicName>image_raw</imageTopicName><cameraInfoTopicName>camera_info</cameraInfoTopicName><frameName>camera</frameName><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin><pose>0 0.095446 0.25 -3.20494e-17 0.523599 1.5708</pose></sensor>]
Dbg [parser_urdf.cc:635] LINK NAME: [parent: end_effector] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0, 0, 0]
Dbg [parser_urdf.cc:641]            [0, 0, 0]
Dbg [parser_urdf.cc:643]            [0, 0, 0]
Dbg [parser_urdf.cc:635] LINK NAME: [link : ft_kraft_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.7268]
Dbg [parser_urdf.cc:637]        CG: [0, 0, 0]
Dbg [parser_urdf.cc:639]         I: [0.00180929, 5.73096e-06, -0.000190446]
Dbg [parser_urdf.cc:641]            [5.73096e-06, 0.00210617, -1.19105e-05]
Dbg [parser_urdf.cc:643]            [-0.000190446, -1.19105e-05, 0.0105461]
Dbg [parser_urdf.cc:635] LINK NAME: [link in parent link: ft_kraft_plate] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.7268]
Dbg [parser_urdf.cc:637]        CG: [0.00341273, 0.046357, 0.000248728]
Dbg [parser_urdf.cc:639]         I: [0.0033712, -0.000305429, -6.3479e-06]
Dbg [parser_urdf.cc:641]            [-0.000305429, 0.0105546, 3.53028e-06]
Dbg [parser_urdf.cc:643]            [-6.3479e-06, 3.53028e-06, 0.00367651]
Dbg [parser_urdf.cc:635] LINK NAME: [combined: end_effector] from dMass
Dbg [parser_urdf.cc:636]      MASS: [0.7268]
Dbg [parser_urdf.cc:637]        CG: [0.00341273, 0.046357, 0.000248728]
Dbg [parser_urdf.cc:639]         I: [0.0033712, -0.000305429, -6.3479e-06]
Dbg [parser_urdf.cc:641]            [-0.000305429, 0.0105546, 3.53028e-06]
Dbg [parser_urdf.cc:643]            [-6.3479e-06, 3.53028e-06, 0.00367651]
Dbg [parser_urdf.cc:651] LINK NAME: [end_effector] from dMass
Dbg [parser_urdf.cc:652]      MASS: [0.7268]
Dbg [parser_urdf.cc:653]        CG: [0.00341273, 0.046357, 0.000248728]
Dbg [parser_urdf.cc:656]         I: [0.00180929, -0.000190446, -5.73096e-06]
Dbg [parser_urdf.cc:659]            [-0.000190446, 0.0105461, 1.19105e-05]
Dbg [parser_urdf.cc:662]            [-5.73096e-06, 1.19105e-05, 0.00210617]
Dbg [parser_urdf.cc:848] adding modified lump group name [lump::ft_kraft_plate] to link [end_effector].
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_kraft_plate]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::finger_middle_link_0] to link [end_effector]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::ft_robotiq_plate] to link [end_effector]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::ft_sensor] to link [end_effector]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_sensor]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::ft_wrist_plate] to link [end_effector]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::ft_wrist_plate]
Dbg [parser_urdf.cc:829] re-lumping group name [lump::palm] to link [end_effector]
Dbg [parser_urdf.cc:338] successfully added a new visual group name [lump::palm]
Dbg [parser_urdf.cc:906] lumping collision [default] for link [ft_kraft_plate] to parent [end_effector] with group name [lump::ft_kraft_plate]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::finger_middle_link_0] for link [ft_kraft_plate] to parent [end_effector] with group name [lump::finger_middle_link_0]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::ft_robotiq_plate] for link [ft_kraft_plate] to parent [end_effector] with group name [lump::ft_robotiq_plate]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::ft_sensor] for link [ft_kraft_plate] to parent [end_effector] with group name [lump::ft_sensor]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::ft_wrist_plate] for link [ft_kraft_plate] to parent [end_effector] with group name [lump::ft_wrist_plate]
Dbg [parser_urdf.cc:884] re-lumping collision [lump::palm] for link [ft_kraft_plate] to parent [end_effector] with group name [lump::palm]
Dbg [parser_urdf.cc:2203] creating default collision for link [base_link]Dbg [parser_urdf.cc:2287] creating default visual for link [base_link]Dbg [parser_urdf.cc:2561] original link name [base_link] new link name [base_link]
Dbg [parser_urdf.cc:1456] inserting extension with reference [base_link] into link.
Dbg [parser_urdf.cc:2203] creating default collision for link [manifold]Dbg [parser_urdf.cc:2287] creating default visual for link [manifold]Dbg [parser_urdf.cc:2561] original link name [manifold] new link name [manifold]
Dbg [parser_urdf.cc:1456] inserting extension with reference [manifold] into link.
Dbg [parser_urdf.cc:2203] creating default collision for link [upper_arm]Dbg [parser_urdf.cc:2287] creating default visual for link [upper_arm]Dbg [parser_urdf.cc:2561] original link name [upper_arm] new link name [upper_arm]
Dbg [parser_urdf.cc:1456] inserting extension with reference [upper_arm] into link.
Dbg [parser_urdf.cc:2203] creating default collision for link [forearm]Dbg [parser_urdf.cc:2287] creating default visual for link [forearm]Dbg [parser_urdf.cc:2561] original link name [forearm] new link name [forearm]
Dbg [parser_urdf.cc:1456] inserting extension with reference [forearm] into link.
Dbg [parser_urdf.cc:2203] creating default collision for link [pitch]Dbg [parser_urdf.cc:2287] creating default visual for link [pitch]Dbg [parser_urdf.cc:2561] original link name [pitch] new link name [pitch]
Dbg [parser_urdf.cc:1456] inserting extension with reference [pitch] into link.
Dbg [parser_urdf.cc:2203] creating default collision for link [yaw]Dbg [parser_urdf.cc:2226] creating lump collision [lump::camera] for link [yaw].
Dbg [parser_urdf.cc:2287] creating default visual for link [yaw]Dbg [parser_urdf.cc:2561] original link name [yaw] new link name [yaw]
Dbg [parser_urdf.cc:2310] creating lump visual [lump::camera] for link [yaw].
Dbg [parser_urdf.cc:2561] original link name [camera] new link name [yaw]
Dbg [parser_urdf.cc:1456] inserting extension with reference [yaw] into link.
Dbg [parser_urdf.cc:1015] multiple consistent <gravity> exists with [true] due to fixed joint reduction.
Dbg [parser_urdf.cc:1015] multiple consistent <self_collide> exists with [false] due to fixed joint reduction.
Dbg [parser_urdf.cc:2226] creating lump collision [lump::finger_middle_link_0] for link [end_effector].
Dbg [parser_urdf.cc:2226] creating lump collision [lump::ft_kraft_plate] for link [end_effector].
Dbg [parser_urdf.cc:2226] creating lump collision [lump::ft_robotiq_plate] for link [end_effector].
Dbg [parser_urdf.cc:2226] creating lump collision [lump::ft_sensor] for link [end_effector].
Dbg [parser_urdf.cc:2226] creating lump collision [lump::ft_wrist_plate] for link [end_effector].
Dbg [parser_urdf.cc:2226] creating lump collision [lump::palm] for link [end_effector].
Dbg [parser_urdf.cc:2310] creating lump visual [lump::finger_middle_link_0] for link [end_effector].
Dbg [parser_urdf.cc:2561] original link name [finger_middle_link_0] new link name [end_effector]
Dbg [parser_urdf.cc:2310] creating lump visual [lump::ft_kraft_plate] for link [end_effector].
Dbg [parser_urdf.cc:2561] original link name [ft_kraft_plate] new link name [end_effector]
Dbg [parser_urdf.cc:2310] creating lump visual [lump::ft_robotiq_plate] for link [end_effector].
Dbg [parser_urdf.cc:2561] original link name [ft_robotiq_plate] new link name [end_effector]
Dbg [parser_urdf.cc:2310] creating lump visual [lump::ft_sensor] for link [end_effector].
Dbg [parser_urdf.cc:2561] original link name [ft_sensor] new link name [end_effector]
Dbg [parser_urdf.cc:2310] creating lump visual [lump::ft_wrist_plate] for link [end_effector].
Dbg [parser_urdf.cc:2561] original link name [ft_wrist_plate] new link name [end_effector]
Dbg [parser_urdf.cc:2310] creating lump visual [lump::palm] for link [end_effector].
Dbg [parser_urdf.cc:2561] original link name [palm] new link name [end_effector]
Dbg [parser_urdf.cc:1456] inserting extension with reference [end_effector] into link.
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_1_link_0]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_1_link_0]Dbg [parser_urdf.cc:2561] original link name [finger_1_link_0] new link name [finger_1_link_0]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_1_link_1]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_1_link_1]Dbg [parser_urdf.cc:2561] original link name [finger_1_link_1] new link name [finger_1_link_1]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_1_link_2]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_1_link_2]Dbg [parser_urdf.cc:2561] original link name [finger_1_link_2] new link name [finger_1_link_2]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_1_link_3]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_1_link_3]Dbg [parser_urdf.cc:2561] original link name [finger_1_link_3] new link name [finger_1_link_3]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_2_link_0]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_2_link_0]Dbg [parser_urdf.cc:2561] original link name [finger_2_link_0] new link name [finger_2_link_0]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_2_link_1]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_2_link_1]Dbg [parser_urdf.cc:2561] original link name [finger_2_link_1] new link name [finger_2_link_1]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_2_link_2]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_2_link_2]Dbg [parser_urdf.cc:2561] original link name [finger_2_link_2] new link name [finger_2_link_2]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_2_link_3]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_2_link_3]Dbg [parser_urdf.cc:2561] original link name [finger_2_link_3] new link name [finger_2_link_3]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_middle_link_1]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_middle_link_1]Dbg [parser_urdf.cc:2561] original link name [finger_middle_link_1] new link name [finger_middle_link_1]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_middle_link_2]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_middle_link_2]Dbg [parser_urdf.cc:2561] original link name [finger_middle_link_2] new link name [finger_middle_link_2]
Dbg [parser_urdf.cc:2203] creating default collision for link [finger_middle_link_3]Dbg [parser_urdf.cc:2287] creating default visual for link [finger_middle_link_3]Dbg [parser_urdf.cc:2561] original link name [finger_middle_link_3] new link name [finger_middle_link_3]
Dbg [parser_urdf.cc:2203] creating default collision for link [coupling]Dbg [parser_urdf.cc:2287] creating default visual for link [coupling]Dbg [parser_urdf.cc:2561] original link name [coupling] new link name [coupling]
Dbg [parser_urdf.cc:1456] inserting extension with reference [coupling] into link.
Dbg [parser_urdf.cc:2203] creating default collision for link [elbow_pivot]Dbg [parser_urdf.cc:2287] creating default visual for link [elbow_pivot]Dbg [parser_urdf.cc:2561] original link name [elbow_pivot] new link name [elbow_pivot]
Dbg [parser_urdf.cc:1456] inserting extension with reference [elbow_pivot] into link.
Dbg [parser_urdf.cc:1015] multiple consistent <static> exists with [false] due to fixed joint reduction.
Dbg [parser.cc:268] parse from urdf file [test.urdf].