noseplugins.multiprocess 2017-10-13 12:04:01,161: DEBUG <noseplugins.multiprocess.MultiProcessTestRunner object at 0x7f21e0295f50>.run(<nose.suite.ContextSuite context=None>) (6655)
noseplugins.multiprocess 2017-10-13 12:04:01,170: DEBUG Next batch <nose.suite.ContextSuite context=test_collada> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,170: DEBUG Queued test 1 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,173: DEBUG Next batch <nose.suite.ContextSuite context=test_collision> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,173: DEBUG Queued test 2 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,174: DEBUG Next batch Failure: ImportError (libconfigurationcache.so: cannot open shared object file: No such file or directory) (<class 'nose.case.Test'>)
noseplugins.multiprocess 2017-10-13 12:04:01,174: DEBUG Case is a Failure
Failure: ImportError (libconfigurationcache.so: cannot open shared object file: No such file or directory) ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:01,178: DEBUG Next batch <nose.suite.ContextSuite context=test_controller> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,178: DEBUG Queued test 3 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_controller.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,181: DEBUG Next batch <nose.suite.ContextSuite context=test_databases> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,181: DEBUG Queued test 4 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_databases.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,184: DEBUG Next batch <nose.suite.ContextSuite context=test_environment> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,184: DEBUG Queued test 5 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,187: DEBUG Next batch <nose.suite.ContextSuite context=test_geometry> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,187: DEBUG Queued test 6 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_geometry.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,189: DEBUG Next batch <nose.suite.ContextSuite context=test_global> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,189: DEBUG Queued test 7 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
using multiprocess
noseplugins.multiprocess 2017-10-13 12:04:01,355: DEBUG Next batch <nose.suite.ContextSuite context=test_robot_ikfast> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,355: DEBUG Queued test 8 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast.py:test_robot_ikfast) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,358: DEBUG Next batch <nose.suite.ContextSuite context=test_ikfast_mandatory> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,358: DEBUG Queued test 9 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,361: DEBUG Next batch <nose.suite.ContextSuite context=test_iksolver> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,362: DEBUG Queued test 10 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,365: DEBUG Next batch <nose.suite.ContextSuite context=test_kinematics> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,365: DEBUG Queued test 11 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,368: DEBUG Next batch <nose.suite.ContextSuite context=test_physics> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,368: DEBUG Queued test 12 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,372: DEBUG Next batch <nose.suite.ContextSuite context=test_planning> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,372: DEBUG Queued test 13 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,404: DEBUG Next batch <nose.suite.ContextSuite context=test_programs> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,404: DEBUG Queued test 14 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,407: DEBUG Next batch <nose.suite.ContextSuite context=test_robot> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,407: DEBUG Queued test 15 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,410: DEBUG Next batch <nose.suite.ContextSuite context=test_sampling> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,410: DEBUG Queued test 16 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,413: DEBUG Next batch <nose.suite.ContextSuite context=test_trajectory> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,413: DEBUG Queued test 17 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,416: DEBUG Next batch <nose.suite.ContextSuite context=test_viewer> (<class 'nose.suite.ContextSuite'>)
noseplugins.multiprocess 2017-10-13 12:04:01,416: DEBUG Queued test 18 (/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_viewer.py) to <multiprocessing.queues.Queue object at 0x7f21e02bc890>
noseplugins.multiprocess 2017-10-13 12:04:01,417: DEBUG Starting 8 workers
noseplugins.multiprocess 2017-10-13 12:04:01,421: DEBUG Started worker process 1
noseplugins.multiprocess 2017-10-13 12:04:01,426: DEBUG Started worker process 2
noseplugins.multiprocess 2017-10-13 12:04:01,426: DEBUG Worker 0 executing, pid=6670
noseplugins.multiprocess 2017-10-13 12:04:01,431: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collada>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,431: DEBUG suite 139783299423120 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collada>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e98af0>
noseplugins.multiprocess 2017-10-13 12:04:01,431: DEBUG Started worker process 3
noseplugins.multiprocess 2017-10-13 12:04:01,431: DEBUG Worker 1 executing, pid=6673
2017-10-13 12:04:01,431 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,436: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,435: DEBUG Started worker process 4
noseplugins.multiprocess 2017-10-13 12:04:01,436: DEBUG Worker 2 executing, pid=6676
noseplugins.multiprocess 2017-10-13 12:04:01,436: DEBUG suite 139783299510608 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5ea2230>
2017-10-13 12:04:01,436 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,440: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_controller.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_controller>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,440: DEBUG Started worker process 5
noseplugins.multiprocess 2017-10-13 12:04:01,440: DEBUG suite 139783299459216 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_controller>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9fb40>
2017-10-13 12:04:01,441 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,443: DEBUG Worker 3 executing, pid=6680
noseplugins.multiprocess 2017-10-13 12:04:01,447: DEBUG Started worker process 6
noseplugins.multiprocess 2017-10-13 12:04:01,447: DEBUG Worker 4 executing, pid=6684
noseplugins.multiprocess 2017-10-13 12:04:01,449: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_databases.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_databases>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,449: DEBUG suite 139783299452624 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_databases>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e8de60>
2017-10-13 12:04:01,450 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,455: DEBUG Started worker process 7
noseplugins.multiprocess 2017-10-13 12:04:01,458: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_environment>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,458: DEBUG suite 139783299412240 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_environment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e297d0>
2017-10-13 12:04:01,458 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,458: DEBUG suite 139783299504144 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collada>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e98be0>
noseplugins.multiprocess 2017-10-13 12:04:01,458: DEBUG suite 139783299504080 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e98be0>
2017-10-13 12:04:01,458 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,459: DEBUG queue 15 tests
noseplugins.multiprocess 2017-10-13 12:04:01,459: DEBUG Worker 5 executing, pid=6688
noseplugins.multiprocess 2017-10-13 12:04:01,460: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:01,462: DEBUG Started worker process 8
noseplugins.multiprocess 2017-10-13 12:04:01,463: DEBUG Waiting for results (0/18 tasks), next timeout=1000.000s
noseplugins.multiprocess 2017-10-13 12:04:01,463: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py, new tasks: 15
noseplugins.multiprocess 2017-10-13 12:04:01,463: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,463: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,463: DEBUG joining worker 0
2017-10-13 12:04:01,465 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,465: DEBUG suite 139783299514256 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5ea22d0>
noseplugins.multiprocess 2017-10-13 12:04:01,465: DEBUG queue 2 tests
noseplugins.multiprocess 2017-10-13 12:04:01,466: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:01,468: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_geometry.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,469: DEBUG suite 139783299451536 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e2c2d0>
noseplugins.multiprocess 2017-10-13 12:04:01,469: DEBUG Worker 6 executing, pid=6692
2017-10-13 12:04:01,469 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,471: DEBUG starting new process on worker 0
2017-10-13 12:04:01,472 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,473: DEBUG suite 139783299460560 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_controller>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9fc30>
noseplugins.multiprocess 2017-10-13 12:04:01,473: DEBUG suite 139783299460496 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ideal>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9fc30>
openravepytest.test_ideal.LoadRobot (pid=6676): ('robots/schunk-lwa3.zae',), {}
noseplugins.multiprocess 2017-10-13 12:04:01,475: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,475: DEBUG suite 139783299488976 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9d550>
2017-10-13 12:04:01,476 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,479: DEBUG Waiting for results (1/33 tasks), next timeout=999.962s
noseplugins.multiprocess 2017-10-13 12:04:01,479: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py, new tasks: 2
noseplugins.multiprocess 2017-10-13 12:04:01,479: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,479: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,479: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:01,479: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:01,480: DEBUG Worker 7 executing, pid=6700
noseplugins.multiprocess 2017-10-13 12:04:01,481: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast.py:test_robot_ikfast (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ikfast>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,481: DEBUG suite 139783299543696 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ikfast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9c730>
2017-10-13 12:04:01,482 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:01,482 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,483: DEBUG suite 139783299548240 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_databases>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5ea50f0>
noseplugins.multiprocess 2017-10-13 12:04:01,483: DEBUG suite 139783299548176 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestDatabases>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5ea50f0>
noseplugins.multiprocess 2017-10-13 12:04:01,490: DEBUG Waiting for results (2/35 tasks), next timeout=999.951s
noseplugins.multiprocess 2017-10-13 12:04:01,495: DEBUG Worker 0 executing, pid=6710
2017-10-13 12:04:01,495 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,495: DEBUG suite 139783471665360 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_environment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e297d0>
noseplugins.multiprocess 2017-10-13 12:04:01,495: DEBUG suite 139783299338000 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e297d0>
noseplugins.multiprocess 2017-10-13 12:04:01,496: DEBUG queue 12 tests
2017-10-13 12:04:01,496 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py, new tasks: 12
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG suite 139783299412240 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e2c2d0>
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG Worker 1 executing, pid=6715
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG queue 2 tests
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,497: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:01,498: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:01,501: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ikfast_mandatory>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,501: DEBUG suite 139783299535376 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ikfast_mandatory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e34050>
2017-10-13 12:04:01,502 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
2017-10-13 12:04:01,502 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,502: DEBUG suite 139783299076176 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9d640>
noseplugins.multiprocess 2017-10-13 12:04:01,502: DEBUG queue 3 tests
noseplugins.multiprocess 2017-10-13 12:04:01,503: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:01,503: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_iksolver>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,504: DEBUG suite 139783299536976 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_iksolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e356e0>
2017-10-13 12:04:01,504 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,504: DEBUG starting new process on worker 4
2017-10-13 12:04:01,512 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,512: DEBUG Waiting for results (3/47 tasks), next timeout=999.928s
noseplugins.multiprocess 2017-10-13 12:04:01,512: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_geometry.py, new tasks: 2
noseplugins.multiprocess 2017-10-13 12:04:01,512: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,512: DEBUG suite 139783299544272 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ikfast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9c820>
noseplugins.multiprocess 2017-10-13 12:04:01,513: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,513: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:01,513: DEBUG suite 139783299544144 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_robot_ikfast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e9c820>
noseplugins.multiprocess 2017-10-13 12:04:01,513: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:01,513: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:01,517: DEBUG Worker 4 executing, pid=6732
noseplugins.multiprocess 2017-10-13 12:04:01,520: DEBUG Waiting for results (4/49 tasks), next timeout=999.920s
noseplugins.multiprocess 2017-10-13 12:04:01,520: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py, new tasks: 3
noseplugins.multiprocess 2017-10-13 12:04:01,520: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,521: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,521: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:01,521: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:01,521: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_kinematics>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,522: DEBUG suite 139783299536976 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_kinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c230>
2017-10-13 12:04:01,522 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:01,525 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,525: DEBUG suite 139783299537296 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ikfast_mandatory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35140>
noseplugins.multiprocess 2017-10-13 12:04:01,526: DEBUG suite 139783299537232 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35140>
noseplugins.multiprocess 2017-10-13 12:04:01,526: DEBUG queue 8 tests
noseplugins.multiprocess 2017-10-13 12:04:01,528: DEBUG Worker 5 executing, pid=6738
noseplugins.multiprocess 2017-10-13 12:04:01,528: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:01,528: DEBUG Waiting for results (5/52 tasks), next timeout=999.912s
noseplugins.multiprocess 2017-10-13 12:04:01,528: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast.py:test_robot_ikfast, new tasks: 0
2017-10-13 12:04:01,529 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,529: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,529: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,529: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:01,529: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:01,529: DEBUG suite 139783299100880 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_iksolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35820>
noseplugins.multiprocess 2017-10-13 12:04:01,529: DEBUG suite 139783299100816 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35820>
noseplugins.multiprocess 2017-10-13 12:04:01,529: DEBUG queue 7 tests
noseplugins.multiprocess 2017-10-13 12:04:01,530: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:01,534: DEBUG Worker 6 executing, pid=6744
noseplugins.multiprocess 2017-10-13 12:04:01,535: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_physics>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,535: DEBUG suite 139783299536976 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_physics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36730>
2017-10-13 12:04:01,535 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,536: DEBUG Waiting for results (6/52 tasks), next timeout=999.905s
noseplugins.multiprocess 2017-10-13 12:04:01,536: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py, new tasks: 8
noseplugins.multiprocess 2017-10-13 12:04:01,536: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,536: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,537: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:01,537: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:01,539: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_planning>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,539: DEBUG suite 139783299536976 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_planning>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36d20>
2017-10-13 12:04:01,540 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,544: DEBUG Waiting for results (7/60 tasks), next timeout=999.896s
noseplugins.multiprocess 2017-10-13 12:04:01,545: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py, new tasks: 7
noseplugins.multiprocess 2017-10-13 12:04:01,545: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,545: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,545: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:01,545: DEBUG Worker 7 executing, pid=6754
noseplugins.multiprocess 2017-10-13 12:04:01,545: DEBUG starting new process on worker 1
2017-10-13 12:04:01,550 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,550: DEBUG suite 139783299111248 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_kinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c320>
noseplugins.multiprocess 2017-10-13 12:04:01,550: DEBUG suite 139783299111184 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c320>
noseplugins.multiprocess 2017-10-13 12:04:01,550: DEBUG queue 24 tests
noseplugins.multiprocess 2017-10-13 12:04:01,551: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,551: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e38500>
noseplugins.multiprocess 2017-10-13 12:04:01,551: DEBUG Worker 0 executing, pid=6758
2017-10-13 12:04:01,552 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,553: DEBUG Waiting for results (8/67 tasks), next timeout=999.888s
noseplugins.multiprocess 2017-10-13 12:04:01,553: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:01,553: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py, new tasks: 24
noseplugins.multiprocess 2017-10-13 12:04:01,554: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,554: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,554: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:01,558: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_robot>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,558: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_robot>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f140>
2017-10-13 12:04:01,559 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,563: DEBUG Worker 1 executing, pid=6764
2017-10-13 12:04:01,563 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,563: DEBUG suite 139783299113168 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_physics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36820>
noseplugins.multiprocess 2017-10-13 12:04:01,564: DEBUG suite 139783299113104 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36820>
noseplugins.multiprocess 2017-10-13 12:04:01,564: DEBUG queue 7 tests
2017-10-13 12:04:01,566 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,566: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:01,567: DEBUG suite 139783299114448 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_planning>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36e60>
noseplugins.multiprocess 2017-10-13 12:04:01,567: DEBUG suite 139783299114384 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36e60>
noseplugins.multiprocess 2017-10-13 12:04:01,567: DEBUG queue 17 tests
noseplugins.multiprocess 2017-10-13 12:04:01,567: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_sampling>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,567: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_sampling>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e397d0>
2017-10-13 12:04:01,568 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,569: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:01,569: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:01,576: DEBUG Waiting for results (9/91 tasks), next timeout=999.864s
noseplugins.multiprocess 2017-10-13 12:04:01,577: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py, new tasks: 7
noseplugins.multiprocess 2017-10-13 12:04:01,577: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,577: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,577: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:01,577: DEBUG starting new process on worker 5
2017-10-13 12:04:01,578 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,579: DEBUG suite 139783299109520 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e385a0>
noseplugins.multiprocess 2017-10-13 12:04:01,579: DEBUG queue 4 tests
noseplugins.multiprocess 2017-10-13 12:04:01,581: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:01,581: DEBUG Worker 4 executing, pid=6779
noseplugins.multiprocess 2017-10-13 12:04:01,584: DEBUG Waiting for results (10/98 tasks), next timeout=999.856s
noseplugins.multiprocess 2017-10-13 12:04:01,585: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py, new tasks: 17
noseplugins.multiprocess 2017-10-13 12:04:01,585: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,585: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,585: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:01,585: DEBUG starting new process on worker 6
2017-10-13 12:04:01,586 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,586: DEBUG suite 139783299115920 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_robot>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f230>
noseplugins.multiprocess 2017-10-13 12:04:01,586: DEBUG suite 139783299115856 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f230>
noseplugins.multiprocess 2017-10-13 12:04:01,586: DEBUG queue 16 tests
noseplugins.multiprocess 2017-10-13 12:04:01,587: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_trajectory>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,587: DEBUG suite 139783299412048 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_trajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f460>
2017-10-13 12:04:01,587 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,588: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:01,593: DEBUG Waiting for results (11/115 tasks), next timeout=999.848s
noseplugins.multiprocess 2017-10-13 12:04:01,593: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py, new tasks: 4
noseplugins.multiprocess 2017-10-13 12:04:01,593: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,593: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,593: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:01,593: DEBUG Worker 5 executing, pid=6785
noseplugins.multiprocess 2017-10-13 12:04:01,593: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:01,597: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_viewer.py (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_viewer>), args: None
noseplugins.multiprocess 2017-10-13 12:04:01,597: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_viewer>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c780>
2017-10-13 12:04:01,598 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
2017-10-13 12:04:01,598 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,598: DEBUG suite 139783299114128 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_sampling>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39910>
noseplugins.multiprocess 2017-10-13 12:04:01,598: DEBUG suite 139783299114064 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestSampling>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39910>
noseplugins.multiprocess 2017-10-13 12:04:01,598: DEBUG queue 2 tests
noseplugins.multiprocess 2017-10-13 12:04:01,600: DEBUG Worker 6 executing, pid=6794
noseplugins.multiprocess 2017-10-13 12:04:01,600: DEBUG Waiting for results (12/119 tasks), next timeout=999.840s
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py, new tasks: 16
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_collada_dummyjoints (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c280>
noseplugins.multiprocess 2017-10-13 12:04:01,601: DEBUG Worker 1 ending
2017-10-13 12:04:01,602 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,606: DEBUG Waiting for results (13/135 tasks), next timeout=999.835s
noseplugins.multiprocess 2017-10-13 12:04:01,606: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py, new tasks: 2
noseplugins.multiprocess 2017-10-13 12:04:01,606: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,606: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,606: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:01,610: DEBUG starting new process on worker 1
2017-10-13 12:04:01,611 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,611: DEBUG suite 139783299120656 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_trajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f460>
noseplugins.multiprocess 2017-10-13 12:04:01,611: DEBUG suite 139783299120592 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f460>
noseplugins.multiprocess 2017-10-13 12:04:01,611: DEBUG queue 21 tests
noseplugins.multiprocess 2017-10-13 12:04:01,613: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:01,614: DEBUG Worker 7 executing, pid=6799
noseplugins.multiprocess 2017-10-13 12:04:01,615: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_collada_loading (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:01,615: DEBUG suite 139783299126544 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e820>
2017-10-13 12:04:01,616 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,617: DEBUG Worker 0 executing, pid=6805
noseplugins.multiprocess 2017-10-13 12:04:01,617: DEBUG Waiting for results (14/137 tasks), next timeout=999.823s
noseplugins.multiprocess 2017-10-13 12:04:01,618: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py, new tasks: 21
noseplugins.multiprocess 2017-10-13 12:04:01,618: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_collada_readexternal (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:01,618: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:01,618: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c280>
noseplugins.multiprocess 2017-10-13 12:04:01,618: DEBUG Ran 0 tests (total: 1)
noseplugins.multiprocess 2017-10-13 12:04:01,618: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:01,618: DEBUG starting new process on worker 4
2017-10-13 12:04:01,618 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:01,623 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,623: DEBUG Worker 1 executing, pid=6814
noseplugins.multiprocess 2017-10-13 12:04:01,623: DEBUG suite 139783299126288 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_viewer>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c870>
noseplugins.multiprocess 2017-10-13 12:04:01,623: DEBUG suite 139783299126224 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestViewer>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c870>
noseplugins.multiprocess 2017-10-13 12:04:01,624: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladagrabbing (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:01,624: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c550>
2017-10-13 12:04:01,624 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,626: DEBUG Waiting for results (15/158 tasks), next timeout=999.815s
2017-10-13 12:04:01,631 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,631: DEBUG Worker 4 executing, pid=6820
noseplugins.multiprocess 2017-10-13 12:04:01,632: DEBUG suite 139783299125584 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c5f0>
noseplugins.multiprocess 2017-10-13 12:04:01,632: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladamerge (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:01,632: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3d550>
2017-10-13 12:04:01,633 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:01,640 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,641: DEBUG suite 139783299125648 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c5f0>
openravepytest.TestCOLLADA.test_collada_readexternal (pid=6805): test collada loading with external references
2017-10-13 12:04:01,645 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,646: DEBUG suite 139783299127248 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e8c0>
openravepytest.TestCOLLADA.test_collada_loading (pid=6799): test that collada import/export works for robots
openravepytest.TestCOLLADA.test_collada_loading (pid=6799): checking collada robots/pr2-beta-static.zae
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:04:01,651 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
2017-10-13 12:04:01,651 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,652: DEBUG suite 139783299125648 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c5f0>
noseplugins.multiprocess 2017-10-13 12:04:01,652: DEBUG suite 139783299129680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3d5f0>
openravepytest.test_ideal.LoadRobot (pid=6676): ('robots/schunk-lwa3.zae',), {}
noseplugins.multiprocess 2017-10-13 12:04:01,787: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:01,787: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_collada_readexternal(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:01,787: DEBUG batch result is ('test_collada.TestCOLLADA.test_collada_readexternal ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_collada_readexternal ... ok
noseplugins.multiprocess 2017-10-13 12:04:01,788: DEBUG Ran 1 tests (total: 2)
noseplugins.multiprocess 2017-10-13 12:04:01,788: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:01,791: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:01,795: DEBUG Waiting for results (16/158 tasks), next timeout=999.645s
noseplugins.multiprocess 2017-10-13 12:04:01,800: DEBUG Worker 0 executing, pid=6834
noseplugins.multiprocess 2017-10-13 12:04:01,801: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladascene_simple (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:01,801: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3d280>
2017-10-13 12:04:01,802 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:01,822 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,822: DEBUG suite 139783299129744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3d5f0>
noseplugins.multiprocess 2017-10-13 12:04:01,869: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:01,869: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_controller.py, new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:01,869: DEBUG batch result is ('test_controller.test_ideal.test_multitraj ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5ea5ab8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_controller.py", line 54, in test_multitraj\n    assert(ret==PlannerStatus.HasSolution)\nAssertionError: \n    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').Init(RaveGetEnvironment(1).GetRobot(\'_R1_\').GetActiveConfigurationSpecification(\'quadratic\'))\n    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').Insert(0,<numpy.lib.index_tricks.RClass object at 0x7f21eb3ba310>[array([ 0.,  0.,  0.,  0.,  0.,  0.,  0.]),array([ 0.5,  0.5,  0. ,  0. ,  0. ,  0. ,  0. ])])\n    openravepy._openravepy_.openravepy_int.PlannerStatus.Failed=planningutils.RetimeActiveDOFTrajectory(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\'),RaveGetEnvironment(1).GetRobot(\'_R1_\'),False)\n>>  assert(openravepy._openravepy_.openravepy_int.PlannerStatus.Failed==PlannerStatus.HasSolution)\n    assert(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').GetDuration()>0)\n    # shouldn\'t move\n    \n')], [], {})
test_controller.test_ideal.test_multitraj ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:01,869: DEBUG Ran 1 tests (total: 3)
noseplugins.multiprocess 2017-10-13 12:04:01,869: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:01,877: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:01,881: DEBUG Waiting for results (17/158 tasks), next timeout=999.568s
noseplugins.multiprocess 2017-10-13 12:04:01,887: DEBUG Worker 2 executing, pid=6844
noseplugins.multiprocess 2017-10-13 12:04:01,887: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladascenes (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:01,887: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3d5f0>
2017-10-13 12:04:01,888 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:01,908 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:01,908: DEBUG suite 139783299129680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3d690>
openravepytest.TestDatabases.LoadEnv (pid=6680): ('robots/neuronics-katana.zae',), {}
2017-10-13 12:04:02,382 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd4955be0)
2017-10-13 12:04:02,382 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd4955be0)
2017-10-13 12:04:02,383 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd4955be0)
2017-10-13 12:04:02,383 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd4955be0)
2017-10-13 12:04:02,383 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd4955be0)
2017-10-13 12:04:02,383 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd4955be0)
2017-10-13 12:04:02,386 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b1 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a2d610)
2017-10-13 12:04:02,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b2 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a2d610)
2017-10-13 12:04:02,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b3 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a2d610)
2017-10-13 12:04:02,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b1 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a2d610)
2017-10-13 12:04:02,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b2 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a2d610)
2017-10-13 12:04:02,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/b3 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a2d610)
noseplugins.multiprocess 2017-10-13 12:04:02,394: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:02,395: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_collada_dummyjoints(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:02,395: DEBUG batch result is ('test_collada.TestCOLLADA.test_collada_dummyjoints ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_collada_dummyjoints ... ok
noseplugins.multiprocess 2017-10-13 12:04:02,395: DEBUG Ran 1 tests (total: 4)
noseplugins.multiprocess 2017-10-13 12:04:02,395: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:02,398: DEBUG starting new process on worker 6
2017-10-13 12:04:02,399 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:02,399 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:02,399 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:02,399 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:02,399 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepytest.TestCOLLADA.test_colladagrabbing (pid=6814): test if robot grabbing information can be exported
openravepytest.TestCOLLADA.test_colladamerge (pid=6820): test that loading collada with prefixes
2017-10-13 12:04:02,402 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
openravepytest.TestCOLLADA.LoadRobot (pid=6814): ('robots/pr2-beta-static.zae',), {}
noseplugins.multiprocess 2017-10-13 12:04:02,403: DEBUG Waiting for results (18/158 tasks), next timeout=999.046s
noseplugins.multiprocess 2017-10-13 12:04:02,423: DEBUG Worker 6 executing, pid=6857
noseplugins.multiprocess 2017-10-13 12:04:02,424: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_external_extrainfo (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:02,424: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e5f0>
2017-10-13 12:04:02,424 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,433 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,434 openrave [WARN] [plugindatabase.h:645 InterfaceBasePtr OpenRAVE::RaveDatabase::Create] Failed to create name viewerrecorder, interface module
2017-10-13 12:04:02,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,447 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:02,447: DEBUG suite 139783299133840 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e690>
openravepytest.TestCOLLADA.test_external_extrainfo (pid=6857): test saving extra info along with external references
openravepytest.TestCOLLADA.LoadRobot (pid=6857): ('robots/schunk-lwa3.zae',), {}
env2 
2017-10-13 12:04:02,452 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,458 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,459 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,459 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,459 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,464 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,464 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,466 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,492 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,493 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,493 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,493 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,501 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,538 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,555 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,555 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,570 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,570 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,570 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,570 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
openravepytest.TestCOLLADA.test_colladascene_simple (pid=6834): test that collada simple import/export
2017-10-13 12:04:02,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,578 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:02,588: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:02,589: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladascene_simple(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:02,589: DEBUG batch result is ('test_collada.TestCOLLADA.test_colladascene_simple ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_colladascene_simple ... ok
noseplugins.multiprocess 2017-10-13 12:04:02,589: DEBUG Ran 1 tests (total: 5)
noseplugins.multiprocess 2017-10-13 12:04:02,589: DEBUG joining worker 0
2017-10-13 12:04:02,592 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,592 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,592 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,592 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,593 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,594 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,595 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,596 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:04:02,597: DEBUG starting new process on worker 0
2017-10-13 12:04:02,597 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,602 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,602 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,603 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,603 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,603 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,603 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,605 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,605 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,605 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:02,605 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:04:02,607: DEBUG Waiting for results (19/158 tasks), next timeout=998.842s
2017-10-13 12:04:02,609 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,609 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,609 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,609 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:02,615: DEBUG Worker 0 executing, pid=6868
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:02,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:02,618: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_external_links (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:02,619: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e5f0>
2017-10-13 12:04:02,620 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:02,624 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 7 value is not in limits 1.570796e+00<1.396263e-01
2017-10-13 12:04:02,628 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:02,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:02,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:02,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:02,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:02,658 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:02,658: DEBUG suite 139783299137872 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e690>
openravepytest.TestCOLLADA.test_colladascenes (pid=6844): test that collada import/export works for scenes with multiple objects
openravepytest.TestCOLLADA.test_external_links (pid=6868): test saving extra info along with external references
openravepytest.TestCOLLADA.LoadRobot (pid=6868): ('robots/schunk-lwa3.zae',), {}
noseplugins.multiprocess 2017-10-13 12:04:02,696: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:02,696: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladamerge(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:02,696: DEBUG batch result is ('test_collada.TestCOLLADA.test_colladamerge ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_colladamerge ... ok
noseplugins.multiprocess 2017-10-13 12:04:02,696: DEBUG Ran 1 tests (total: 6)
noseplugins.multiprocess 2017-10-13 12:04:02,697: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:02,705: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:02,713: DEBUG Waiting for results (20/158 tasks), next timeout=998.737s
noseplugins.multiprocess 2017-10-13 12:04:02,724: DEBUG Worker 4 executing, pid=6879
noseplugins.multiprocess 2017-10-13 12:04:02,725: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_externalgrab (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:02,725: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e5f0>
2017-10-13 12:04:02,726 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:02,759 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:02,760: DEBUG suite 139783299137872 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e690>
openravepytest.TestCOLLADA.test_externalgrab (pid=6879): saving grab info when saving robot as external ref
openravepytest.TestCOLLADA.LoadRobot (pid=6879): ('robots/schunk-lwa3.zae',), {}
2017-10-13 12:04:02,800 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Document is empty
2017-10-13 12:04:02,800 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Error parsing XML in daeLIBXMLPlugin::read
2017-10-13 12:04:02,995 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:03,011 openrave [WARN] [colladawriter.cpp:722 shared_ptr<OpenRAVE::ColladaWriter::instance_articulated_system_output> OpenRAVE::ColladaWriter::_WriteKinBodyExternal] do not support jointlimit writing
2017-10-13 12:04:03,011 openrave [WARN] [colladawriter.cpp:725 shared_ptr<OpenRAVE::ColladaWriter::instance_articulated_system_output> OpenRAVE::ColladaWriter::_WriteKinBodyExternal] do not support jointweight writing
2017-10-13 12:04:03,014 openrave [WARN] [colladawriter.cpp:722 shared_ptr<OpenRAVE::ColladaWriter::instance_articulated_system_output> OpenRAVE::ColladaWriter::_WriteKinBodyExternal] do not support jointlimit writing
2017-10-13 12:04:03,014 openrave [WARN] [colladawriter.cpp:725 shared_ptr<OpenRAVE::ColladaWriter::instance_articulated_system_output> OpenRAVE::ColladaWriter::_WriteKinBodyExternal] do not support jointweight writing
2017-10-13 12:04:03,090 openrave [WARN] [colladawriter.cpp:722 shared_ptr<OpenRAVE::ColladaWriter::instance_articulated_system_output> OpenRAVE::ColladaWriter::_WriteKinBodyExternal] do not support jointlimit writing
2017-10-13 12:04:03,090 openrave [WARN] [colladawriter.cpp:725 shared_ptr<OpenRAVE::ColladaWriter::instance_articulated_system_output> OpenRAVE::ColladaWriter::_WriteKinBodyExternal] do not support jointweight writing
2017-10-13 12:04:03,222 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Document is empty
2017-10-13 12:04:03,222 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Error parsing XML in daeLIBXMLPlugin::read
2017-10-13 12:04:03,312 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Document is empty
2017-10-13 12:04:03,312 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Error parsing XML in daeLIBXMLPlugin::read
2017-10-13 12:04:03,354 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Document is empty
2017-10-13 12:04:03,354 openrave [ERROR] [colladareader.cpp:3803 ColladaReader::handleError] COLLADA error: Error parsing XML in daeLIBXMLPlugin::read
2017-10-13 12:04:03,593 openrave [WARN] [colladareader.cpp:4356 pair<boost::shared_ptr<OpenRAVE::KinBody::Joint>, daeSmartRef<ColladaDOM150::domJoint> > OpenRAVE::ColladaReader::_getJointFromRef] could not find collada joint 'kmodel1/joint6'!
2017-10-13 12:04:03,593 openrave [WARN] [colladareader.cpp:2989 ColladaReader::ExtractRobotManipulators] could not find manipulator 'mynewmanip' gripper joint 'kmodel1/joint6'
2017-10-13 12:04:03,722 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:04:03,727: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:03,728: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_external_extrainfo(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:03,728: DEBUG batch result is ('test_collada.TestCOLLADA.test_external_extrainfo ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_external_extrainfo ... ok
noseplugins.multiprocess 2017-10-13 12:04:03,728: DEBUG Ran 1 tests (total: 7)
noseplugins.multiprocess 2017-10-13 12:04:03,728: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:03,733: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:03,744: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:03,753: DEBUG Waiting for results (21/158 tasks), next timeout=997.696s
noseplugins.multiprocess 2017-10-13 12:04:03,754: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_externalgrab(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:03,754: DEBUG batch result is ('test_collada.TestCOLLADA.test_externalgrab ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_externalgrab ... ok
noseplugins.multiprocess 2017-10-13 12:04:03,754: DEBUG Ran 1 tests (total: 8)
noseplugins.multiprocess 2017-10-13 12:04:03,754: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:03,754: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:03,761: DEBUG Waiting for results (22/158 tasks), next timeout=997.688s
noseplugins.multiprocess 2017-10-13 12:04:03,761: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:03,762: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_external_links(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:03,762: DEBUG Worker 6 executing, pid=6902
noseplugins.multiprocess 2017-10-13 12:04:03,762: DEBUG batch result is ('test_collada.TestCOLLADA.test_external_links ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_external_links ... ok
noseplugins.multiprocess 2017-10-13 12:04:03,762: DEBUG Ran 1 tests (total: 9)
noseplugins.multiprocess 2017-10-13 12:04:03,762: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:03,763: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_externalref_joints (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:03,763: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e5f0>
2017-10-13 12:04:03,764 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:03,780: DEBUG Worker 4 executing, pid=6905
noseplugins.multiprocess 2017-10-13 12:04:03,782: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:03,791: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_externalref_scene (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:03,792: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e5f0>
2017-10-13 12:04:03,792 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:03,792: DEBUG Waiting for results (23/158 tasks), next timeout=997.658s
noseplugins.multiprocess 2017-10-13 12:04:03,809: DEBUG Worker 0 executing, pid=6911
noseplugins.multiprocess 2017-10-13 12:04:03,810: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_individualuri (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:03,810: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f5f0>
2017-10-13 12:04:03,811 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:03,814 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:03,815: DEBUG suite 139783299137936 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e690>
openravepytest.TestCOLLADA.test_externalref_joints (pid=6902): test basic collada saving/loading with external references
2017-10-13 12:04:03,828 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:03,829: DEBUG suite 139783299137936 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3e690>
openravepytest.TestCOLLADA.LoadDataEnv (pid=6905): LoadDataEnv
2017-10-13 12:04:03,830 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "robots/barrett-wamhand.dae"
2017-10-13 12:04:03,853 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:03,886 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:03,891 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:03,892: DEBUG suite 139783299141968 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f690>
openravepytest.TestCOLLADA.test_individualuri (pid=6911): test loading individual objects from larget collada file
2017-10-13 12:04:03,920 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:03,953 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:03,985 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint0_axis0' not found
2017-10-13 12:04:03,985 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint1_axis0' not found
2017-10-13 12:04:03,985 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint2_axis0' not found
2017-10-13 12:04:03,985 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint3_axis0' not found
2017-10-13 12:04:03,986 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint4_axis0' not found
2017-10-13 12:04:03,986 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint5_axis0' not found
2017-10-13 12:04:03,986 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint6_axis0' not found
2017-10-13 12:04:03,986 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint7_axis0' not found
2017-10-13 12:04:03,988 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1334 ColladaReader::ExtractKinematicsModel] failed to find visual node for instance kinematics model kmodel0_inst, creating without any geometry
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Base, nodeid=
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L1, nodeid=
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L2, nodeid=
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L3, nodeid=
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L4, nodeid=
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L5, nodeid=
2017-10-13 12:04:03,989 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Gripper_Base, nodeid=
2017-10-13 12:04:03,990 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Gripper_Right, nodeid=
2017-10-13 12:04:03,990 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Gripper_Left, nodeid=
2017-10-13 12:04:03,991 openrave [WARN] [colladareader.cpp:1198 ColladaReader::ExtractArticulatedSystem] body Katana6M180 does not have any binding model URIs, re-saving as external reference will not work
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:03,994 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 2) (userdatakey fclcollision0x555cd4a0ef20)
2017-10-13 12:04:04,022 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:04,098 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:04,098 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:04,098 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:04,098 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:04,098 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:04,105 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,147 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,166 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,166 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,195 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,196 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,198 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,216 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,216 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,238 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,238 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,238 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,238 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,246 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,247 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,309 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,309 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,329 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,329 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,329 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,329 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,338 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,338 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,338 openrave [WARN] [colladareader.cpp:4011 ColladaReader::_ExtractPhysicsBindings] instance_physics_model pmodel0_inst did not find visual binding to 
2017-10-13 12:04:04,339 openrave [WARN] [colladareader.cpp:1187 ColladaReader::ExtractArticulatedSystem] body BarrettWAM has no node id
2017-10-13 12:04:04,340 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,341 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:04,356 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:04,357 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,357 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,370 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:04,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,385 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,387 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4954a60)
2017-10-13 12:04:04,400 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:04,415 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): BarrettWAM
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): floorwalls
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): pole
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): pole2
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): pole3
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): wall1
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): mug1
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): mug2
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): mug3
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): mug4
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): mug5
2017-10-13 12:04:04,442 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body floorwalls link 0 has empty name, so setting to _dummylink0_!
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): mug6
openravepytest.TestCOLLADA.test_externalref_scene (pid=6905): table
2017-10-13 12:04:04,444 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:04,445 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole2 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:04,446 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole3 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:04,446 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body wall1 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:04,448 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body segway link 0 has empty name, so setting to _dummylink0_!
noseplugins.multiprocess 2017-10-13 12:04:04,455: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:04,456: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_externalref_scene(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:04,456: DEBUG batch result is ('test_collada.TestCOLLADA.test_externalref_scene ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_externalref_scene ... ok
noseplugins.multiprocess 2017-10-13 12:04:04,456: DEBUG Ran 1 tests (total: 10)
noseplugins.multiprocess 2017-10-13 12:04:04,456: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:04,462: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:04,475: DEBUG Waiting for results (24/158 tasks), next timeout=996.974s
noseplugins.multiprocess 2017-10-13 12:04:04,485: DEBUG Worker 4 executing, pid=6929
noseplugins.multiprocess 2017-10-13 12:04:04,487: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_saving (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:04,487: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f5f0>
2017-10-13 12:04:04,489 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:04,530 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:04,532: DEBUG suite 139783299142032 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3f690>
openravepytest.TestCOLLADA.test_saving (pid=6929): test collada saving options
openravepytest.TestCOLLADA.LoadEnv (pid=6929): ('data/pr2test1.env.xml',), {}
2017-10-13 12:04:04,542 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:04,542 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:04,542 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:04,542 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:04,542 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:04,625: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:04,643: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_externalref_joints(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:04,643: DEBUG batch result is ('test_collada.TestCOLLADA.test_externalref_joints ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e2d3b0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py", line 246, in test_externalref_joints\n    assert(len(filedata)<10000) # should be small\nAssertionError: \n    RaveGetEnvironment(1).Save(\'test_externalref_joints.dae\',Environment.SelectionOptions.Everything,{\'externalref\':\'*\'})\n    \'<?xml version="1.0" encoding="UTF-8"?>\\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">\\n\\t<asset>\\n\\t\\t<contributor>\\n\\t\\t\\t<authoring_tool>OpenRAVE Collada Writer 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sid="ias_extern_param4">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint4.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param4_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308232</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param5">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint5.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param5_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308234</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param6">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint6.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param6_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308231</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ikmodel_extern0_0">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_kmodel1_inst</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<extra type="collision">\\n\\t\\t\\t\\t\\t<technique profile="OpenRAVE">\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link0">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link1">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link2">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link3">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link4">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link5">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link6">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link7">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link0" url="#g0_link0_extrageom0_self" material="#g0_link0_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link1" url="#g0_link1_extrageom0_self" material="#g0_link1_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link2" url="#g0_link2_extrageom0_self" material="#g0_link2_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link3" url="#g0_link3_extrageom0_self" material="#g0_link3_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link4" url="#g0_link4_extrageom0_self" material="#g0_link4_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link5" url="#g0_link5_extrageom0_self" material="#g0_link5_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link6" url="#g0_link6_extrageom0_self" material="#g0_link6_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link7" url="#g0_link7_extrageom0_self" material="#g0_link7_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t</technique>\\n\\t\\t\\t\\t</extra>\\n\\t\\t\\t</instance_articulated_system>\\n\\t\\t</kinematics_scene>\\n\\t</library_kinematics_scenes>\\n\\t<library_physics_scenes id="pscenes">\\n\\t\\t<physics_scene id="pscene" name="test_externalref_joints">\\n\\t\\t\\t<instance_physics_model url="openrave:/robots/schunk-lwa3.zae#pmodel1" sid="pmodel0_inst" parent="#v1.node0.visual0">\\n\\t\\t\\t\\t<instance_rigid_body body="rigid0" sid="rigid0" target="#v1.node0.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid1" sid="rigid1" target="#v1.node1.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid2" sid="rigid2" target="#v1.node2.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid3" sid="rigid3" target="#v1.node3.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid4" sid="rigid4" target="#v1.node4.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid5" sid="rigid5" target="#v1.node5.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid6" sid="rigid6" target="#v1.node6.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid7" sid="rigid7" target="#v1.node7.visual0"/>\\n\\t\\t\\t</instance_physics_model>\\n\\t\\t\\t<technique_common>\\n\\t\\t\\t\\t<gravity>0 0 -9.797930195020351</gravity>\\n\\t\\t\\t</technique_common>\\n\\t\\t</physics_scene>\\n\\t</library_physics_scenes>\\n\\t<library_physics_models id="pmodels"/>\\n\\t<scene>\\n\\t\\t<instance_physics_scene url="#pscene" sid="pscene_inst" name="test_externalref_joints"/>\\n\\t\\t<instance_visual_scene url="#vscene" sid="vscene_inst" name="test_externalref_joints"/>\\n\\t\\t<instance_kinematics_scene url="#kscene" sid="kscene_inst" name="test_externalref_joints">\\n\\t\\t\\t<bind_kinematics_model node="visual0/node0">\\n\\t\\t\\t\\t<param>ikmodel_extern0_0</param>\\n\\t\\t\\t</bind_kinematics_model>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint0_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint1_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param1</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param1_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint2_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param2</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param2_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint3_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param3</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param3_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint4_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param4</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param4_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint5_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param5</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param5_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint6_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param6</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param6_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t</instance_kinematics_scene>\\n\\t</scene>\\n\\t<extra id="sensors" type="library_sensors">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n\\t<extra id="actuators" type="library_actuators">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n</COLLADA>\\n\'=open(\'test_externalref_joints.dae\',\'r\').read()\n    assert(\'<?xml version="1.0" encoding="UTF-8"?>\\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">\\n\\t<asset>\\n\\t\\t<contributor>\\n\\t\\t\\t<authoring_tool>OpenRAVE Collada Writer v0.3.5</authoring_tool>\\n\\t\\t</contributor>\\n\\t\\t<created>2017-10-13T12:04:04.000000</created>\\n\\t\\t<keywords/>\\n\\t\\t<modified>2017-10-13T12:04:04.000000</modified>\\n\\t\\t<unit/>\\n\\t\\t<up_axis>Z_UP</up_axis>\\n\\t</asset>\\n\\t<library_visual_scenes id="vscenes">\\n\\t\\t<visual_scene id="vscene" name="test_externalref_joints">\\n\\t\\t\\t<node id="visual0" name="schunk-lwa3" sid="visual0">\\n\\t\\t\\t\\t<translate sid="translate">0 0 0</translate>\\n\\t\\t\\t\\t<rotate sid="rotate">1 0 0 0</rotate>\\n\\t\\t\\t\\t<instance_node url="openrave:/robots/schunk-lwa3.zae#v1.node0" sid="node0">\\n\\t\\t\\t\\t\\t<extra name=".visual0" type="idsuffix"/>\\n\\t\\t\\t\\t</instance_node>\\n\\t\\t\\t</node>\\n\\t\\t</visual_scene>\\n\\t</library_visual_scenes>\\n\\t<library_geometries id="geometries">\\n\\t\\t<geometry id="g0_link0_extrageom0_self">\\n\\t\\t\\t<mesh>\\n\\t\\t\\t\\t<source id="g0_link0_extrageom0_self_positions">\\n\\t\\t\\t\\t\\t<float_array id="g0_link0_extrageom0_self_positions-array" count="1008" digits="2490384">0 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.1 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0.1 1.86517e-17 0.042 0.1 -1.86517e-17 -0.042 0.1 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0 -1.86517e-17 -0.042 0.0973045 -0.0230616 -0.042 0.1 -1.86517e-17 -0.042 0 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0.1 -1.86517e-17 -0.042 0.0973045 -0.0230616 -0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 -0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0 -1.86517e-17 -0.042 0.08936330000000001 -0.0448799 -0.042 0.0973045 -0.0230616 -0.042 0 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0.08936330000000001 -0.0448799 0.042 0.0973045 -0.0230616 -0.042 0.08936330000000001 -0.0448799 -0.042 0.0973045 -0.0230616 0.042 0.08936330000000001 -0.0448799 -0.042 0.0973045 -0.0230616 0.042 0.08936330000000001 -0.0448799 0.042 0 -1.86517e-17 -0.042 0.0766044 -0.0642788 -0.042 0.08936330000000001 -0.0448799 -0.042 0 1.86517e-17 0.042 0.08936330000000001 -0.0448799 0.042 0.0766044 -0.0642788 0.042 0.08936330000000001 -0.0448799 -0.042 0.0766044 -0.0642788 -0.042 0.08936330000000001 -0.0448799 0.042 0.0766044 -0.0642788 -0.042 0.08936330000000001 -0.0448799 0.042 0.0766044 -0.0642788 0.042 0 -1.86517e-17 -0.042 0.0597159 -0.0802123 -0.042 0.0766044 -0.0642788 -0.042 0 1.86517e-17 0.042 0.0766044 -0.0642788 0.042 0.0597159 -0.0802123 0.042 0.0766044 -0.0642788 -0.042 0.0597159 -0.0802123 -0.042 0.0766044 -0.0642788 0.042 0.0597159 -0.0802123 -0.042 0.0766044 -0.0642788 0.042 0.0597159 -0.0802123 0.042 0 -1.86517e-17 -0.042 0.039608 -0.0918216 -0.042 0.0597159 -0.0802123 -0.042 0 1.86517e-17 0.042 0.0597159 -0.0802123 0.042 0.039608 -0.0918216 0.042 0.0597159 -0.0802123 -0.042 0.039608 -0.0918216 -0.042 0.0597159 -0.0802123 0.042 0.039608 -0.0918216 -0.042 0.0597159 -0.0802123 0.042 0.039608 -0.0918216 0.042 0 -1.86517e-17 -0.042 0.0173648 -0.09848079999999999 -0.042 0.039608 -0.0918216 -0.042 0 1.86517e-17 0.042 0.039608 -0.0918216 0.042 0.0173648 -0.09848079999999999 0.042 0.039608 -0.0918216 -0.042 0.0173648 -0.09848079999999999 -0.042 0.039608 -0.0918216 0.042 0.0173648 -0.09848079999999999 -0.042 0.039608 -0.0918216 0.042 0.0173648 -0.09848079999999999 0.042 0 -1.86517e-17 -0.042 -0.00581448 -0.0998308 -0.042 0.0173648 -0.09848079999999999 -0.042 0 1.86517e-17 0.042 0.0173648 -0.09848079999999999 0.042 -0.00581448 -0.0998308 0.042 0.0173648 -0.09848079999999999 -0.042 -0.00581448 -0.0998308 -0.042 0.0173648 -0.09848079999999999 0.042 -0.00581448 -0.0998308 -0.042 0.0173648 -0.09848079999999999 0.042 -0.00581448 -0.0998308 0.042 0 -1.86517e-17 -0.042 -0.0286803 -0.095799 -0.042 -0.00581448 -0.0998308 -0.042 0 1.86517e-17 0.042 -0.00581448 -0.0998308 0.042 -0.0286803 -0.095799 0.042 -0.00581448 -0.0998308 -0.042 -0.0286803 -0.095799 -0.042 -0.00581448 -0.0998308 0.042 -0.0286803 -0.095799 -0.042 -0.00581448 -0.0998308 0.042 -0.0286803 -0.095799 0.042 0 -1.86517e-17 -0.042 -0.05 -0.0866025 -0.042 -0.0286803 -0.095799 -0.042 0 1.86517e-17 0.042 -0.0286803 -0.095799 0.042 -0.05 -0.0866025 0.042 -0.0286803 -0.095799 -0.042 -0.05 -0.0866025 -0.042 -0.0286803 -0.095799 0.042 -0.05 -0.0866025 -0.042 -0.0286803 -0.095799 0.042 -0.05 -0.0866025 0.042 0 -1.86517e-17 -0.042 -0.0686242 -0.07273739999999999 -0.042 -0.05 -0.0866025 -0.042 0 1.86517e-17 0.042 -0.05 -0.0866025 0.042 -0.0686242 -0.07273739999999999 0.042 -0.05 -0.0866025 -0.042 -0.0686242 -0.07273739999999999 -0.042 -0.05 -0.0866025 0.042 -0.0686242 -0.07273739999999999 -0.042 -0.05 -0.0866025 0.042 -0.0686242 -0.07273739999999999 0.042 0 -1.86517e-17 -0.042 -0.08354880000000001 -0.0549509 -0.042 -0.0686242 -0.07273739999999999 -0.042 0 1.86517e-17 0.042 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1</color>\\n\\t\\t\\t\\t\\t\\t</diffuse>\\n\\t\\t\\t\\t\\t\\t<transparency>\\n\\t\\t\\t\\t\\t\\t\\t<float>1</float>\\n\\t\\t\\t\\t\\t\\t</transparency>\\n\\t\\t\\t\\t\\t</phong>\\n\\t\\t\\t\\t</technique>\\n\\t\\t\\t</profile_COMMON>\\n\\t\\t</effect>\\n\\t\\t<effect id="g0_link7_extrageom0_self_eff">\\n\\t\\t\\t<profile_COMMON>\\n\\t\\t\\t\\t<technique sid="">\\n\\t\\t\\t\\t\\t<phong>\\n\\t\\t\\t\\t\\t\\t<ambient>\\n\\t\\t\\t\\t\\t\\t\\t<color>0.5019609928131104 0.5019609928131104 1 1</color>\\n\\t\\t\\t\\t\\t\\t</ambient>\\n\\t\\t\\t\\t\\t\\t<diffuse>\\n\\t\\t\\t\\t\\t\\t\\t<color>0.5019609928131104 0.5019609928131104 1 1</color>\\n\\t\\t\\t\\t\\t\\t</diffuse>\\n\\t\\t\\t\\t\\t\\t<transparency>\\n\\t\\t\\t\\t\\t\\t\\t<float>1</float>\\n\\t\\t\\t\\t\\t\\t</transparency>\\n\\t\\t\\t\\t\\t</phong>\\n\\t\\t\\t\\t</technique>\\n\\t\\t\\t</profile_COMMON>\\n\\t\\t</effect>\\n\\t</library_effects>\\n\\t<library_materials id="materials">\\n\\t\\t<material id="g0_link0_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link0_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t\\t<material id="g0_link1_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link1_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t\\t<material id="g0_link2_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link2_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t\\t<material id="g0_link3_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link3_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t\\t<material id="g0_link4_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link4_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t\\t<material id="g0_link5_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link5_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t\\t<material id="g0_link6_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link6_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t\\t<material id="g0_link7_extrageom0_self_mat">\\n\\t\\t\\t<instance_effect url="#g0_link7_extrageom0_self_eff"/>\\n\\t\\t</material>\\n\\t</library_materials>\\n\\t<library_nodes id="nodes"/>\\n\\t<library_kinematics_models id="kmodels"/>\\n\\t<library_articulated_systems id="asystems"/>\\n\\t<library_kinematics_scenes id="kscenes">\\n\\t\\t<kinematics_scene id="kscene" name="test_externalref_joints">\\n\\t\\t\\t<instance_articulated_system sid="body0_kinematics_inst" url="openrave:/robots/schunk-lwa3.zae#body1_motion" name="schunk-lwa3">\\n\\t\\t\\t\\t<newparam sid="ias_extern_param0">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint0.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param0_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308232</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param1">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint1.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param1_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308234</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param2">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint2.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param2_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308234</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param3">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint3.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param3_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308231</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param4">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint4.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param4_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308232</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param5">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint5.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param5_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308234</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param6">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint6.axis0</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ias_extern_param6_value">\\n\\t\\t\\t\\t\\t<float>57.29577951308231</float>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<newparam sid="ikmodel_extern0_0">\\n\\t\\t\\t\\t\\t<SIDREF>body1_motion/body1_motion_kmodel1_inst</SIDREF>\\n\\t\\t\\t\\t</newparam>\\n\\t\\t\\t\\t<extra type="collision">\\n\\t\\t\\t\\t\\t<technique profile="OpenRAVE">\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link0">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link1">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link2">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link3">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link4">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link5">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link6">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<link_collision_state link="link7">\\n\\t\\t\\t\\t\\t\\t\\t<bool>true</bool>\\n\\t\\t\\t\\t\\t\\t</link_collision_state>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link0" url="#g0_link0_extrageom0_self" material="#g0_link0_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link1" url="#g0_link1_extrageom0_self" material="#g0_link1_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link2" url="#g0_link2_extrageom0_self" material="#g0_link2_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link3" url="#g0_link3_extrageom0_self" material="#g0_link3_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link4" url="#g0_link4_extrageom0_self" material="#g0_link4_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link5" url="#g0_link5_extrageom0_self" material="#g0_link5_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link6" url="#g0_link6_extrageom0_self" material="#g0_link6_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link7" url="#g0_link7_extrageom0_self" material="#g0_link7_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t</technique>\\n\\t\\t\\t\\t</extra>\\n\\t\\t\\t</instance_articulated_system>\\n\\t\\t</kinematics_scene>\\n\\t</library_kinematics_scenes>\\n\\t<library_physics_scenes id="pscenes">\\n\\t\\t<physics_scene id="pscene" name="test_externalref_joints">\\n\\t\\t\\t<instance_physics_model url="openrave:/robots/schunk-lwa3.zae#pmodel1" sid="pmodel0_inst" parent="#v1.node0.visual0">\\n\\t\\t\\t\\t<instance_rigid_body body="rigid0" sid="rigid0" target="#v1.node0.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid1" sid="rigid1" target="#v1.node1.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid2" sid="rigid2" target="#v1.node2.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid3" sid="rigid3" target="#v1.node3.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid4" sid="rigid4" target="#v1.node4.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid5" sid="rigid5" target="#v1.node5.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid6" sid="rigid6" target="#v1.node6.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid7" sid="rigid7" target="#v1.node7.visual0"/>\\n\\t\\t\\t</instance_physics_model>\\n\\t\\t\\t<technique_common>\\n\\t\\t\\t\\t<gravity>0 0 -9.797930195020351</gravity>\\n\\t\\t\\t</technique_common>\\n\\t\\t</physics_scene>\\n\\t</library_physics_scenes>\\n\\t<library_physics_models id="pmodels"/>\\n\\t<scene>\\n\\t\\t<instance_physics_scene url="#pscene" sid="pscene_inst" name="test_externalref_joints"/>\\n\\t\\t<instance_visual_scene url="#vscene" sid="vscene_inst" name="test_externalref_joints"/>\\n\\t\\t<instance_kinematics_scene url="#kscene" sid="kscene_inst" name="test_externalref_joints">\\n\\t\\t\\t<bind_kinematics_model node="visual0/node0">\\n\\t\\t\\t\\t<param>ikmodel_extern0_0</param>\\n\\t\\t\\t</bind_kinematics_model>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint0_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint1_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param1</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param1_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint2_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param2</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param2_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint3_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param3</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param3_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint4_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param4</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param4_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint5_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param5</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param5_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint6_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param6</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param6_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t</instance_kinematics_scene>\\n\\t</scene>\\n\\t<extra id="sensors" type="library_sensors">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n\\t<extra id="actuators" type="library_actuators">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n</COLLADA>\\n\'.find(\'openrave:/robots/schunk-lwa3.zae\')>=0)\n>>  assert(len(\'<?xml version="1.0" encoding="UTF-8"?>\\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" 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type="self" link="link4" url="#g0_link4_extrageom0_self" material="#g0_link4_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link5" url="#g0_link5_extrageom0_self" material="#g0_link5_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link6" url="#g0_link6_extrageom0_self" material="#g0_link6_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t\\t<bind_instance_geometry type="self" link="link7" url="#g0_link7_extrageom0_self" material="#g0_link7_extrageom0_self_mat"/>\\n\\t\\t\\t\\t\\t</technique>\\n\\t\\t\\t\\t</extra>\\n\\t\\t\\t</instance_articulated_system>\\n\\t\\t</kinematics_scene>\\n\\t</library_kinematics_scenes>\\n\\t<library_physics_scenes id="pscenes">\\n\\t\\t<physics_scene id="pscene" name="test_externalref_joints">\\n\\t\\t\\t<instance_physics_model url="openrave:/robots/schunk-lwa3.zae#pmodel1" sid="pmodel0_inst" parent="#v1.node0.visual0">\\n\\t\\t\\t\\t<instance_rigid_body body="rigid0" sid="rigid0" target="#v1.node0.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid1" sid="rigid1" target="#v1.node1.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid2" sid="rigid2" target="#v1.node2.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid3" sid="rigid3" target="#v1.node3.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid4" sid="rigid4" target="#v1.node4.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid5" sid="rigid5" target="#v1.node5.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid6" sid="rigid6" target="#v1.node6.visual0"/>\\n\\t\\t\\t\\t<instance_rigid_body body="rigid7" sid="rigid7" target="#v1.node7.visual0"/>\\n\\t\\t\\t</instance_physics_model>\\n\\t\\t\\t<technique_common>\\n\\t\\t\\t\\t<gravity>0 0 -9.797930195020351</gravity>\\n\\t\\t\\t</technique_common>\\n\\t\\t</physics_scene>\\n\\t</library_physics_scenes>\\n\\t<library_physics_models id="pmodels"/>\\n\\t<scene>\\n\\t\\t<instance_physics_scene url="#pscene" sid="pscene_inst" name="test_externalref_joints"/>\\n\\t\\t<instance_visual_scene url="#vscene" sid="vscene_inst" name="test_externalref_joints"/>\\n\\t\\t<instance_kinematics_scene url="#kscene" sid="kscene_inst" name="test_externalref_joints">\\n\\t\\t\\t<bind_kinematics_model node="visual0/node0">\\n\\t\\t\\t\\t<param>ikmodel_extern0_0</param>\\n\\t\\t\\t</bind_kinematics_model>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint0_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint1_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param1</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param1_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint2_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param2</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param2_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint3_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param3</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param3_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint4_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param4</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param4_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint5_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param5</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param5_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint6_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>ias_extern_param6</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>ias_extern_param6_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t</instance_kinematics_scene>\\n\\t</scene>\\n\\t<extra id="sensors" type="library_sensors">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n\\t<extra id="actuators" type="library_actuators">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n</COLLADA>\\n\')<10000) # should be small\n    assert(RaveGetEnvironment(2).Load(\'test_externalref_joints.dae\'))\n    <module \'openravepy._openravepy_.misc\' from \'/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/misc.pyc\'>.CompareBodies(RaveGetEnvironment(1).GetRobot(\'schunk-lwa3\'),RaveGetEnvironment(2).GetRobots()[0])\n    \n')], [], {})
test_collada.TestCOLLADA.test_externalref_joints ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:04,710: DEBUG Ran 1 tests (total: 11)
noseplugins.multiprocess 2017-10-13 12:04:04,711: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:04,711: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:04,724: DEBUG Waiting for results (25/158 tasks), next timeout=996.727s
noseplugins.multiprocess 2017-10-13 12:04:04,737: DEBUG Worker 6 executing, pid=6940
noseplugins.multiprocess 2017-10-13 12:04:04,739: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_writekinematicsonly (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:04,739: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e40320>
2017-10-13 12:04:04,739 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:04,777 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:04,778: DEBUG suite 139783299141968 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestCOLLADA>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e40690>
openravepytest.TestCOLLADA.test_writekinematicsonly (pid=6940): test writing kinematics only
openravepytest.TestCOLLADA.LoadRobot (pid=6940): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:04:05,482 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body floorwalls link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:05,485 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:05,486 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole2 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:05,487 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole3 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:05,488 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body wall1 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:05,489 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body segway link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:05,525 openrave [INFO] [ikfastmodule.cpp:531 LoadIKFastSolver] Generating inverse kinematics TranslationDirection5D for manip Katana6M180:arm, hash=ab9d03903279e44bc692e896791bcd05, saving intermediate data to /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/testikfastrobot612.dae, will take several minutes...
2017-10-13 12:04:06,202 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:06,202 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,202 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:06,202 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,202 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:06,206 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,250 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,250 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,250 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,250 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,268 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,268 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,289 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,296 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,296 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,299 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,339 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,339 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,339 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,339 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,347 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,348 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,409 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,409 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,487 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,487 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
done
quitting
2017-10-13 12:04:06,490 openrave [WARN] [qtcoinrave.cpp:80 DestroyPlugin] SoQt releasing all memory
2017-10-13 12:04:06,490 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,493 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:06,493 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,493 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:06,493 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,493 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:06,497 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
noseplugins.multiprocess 2017-10-13 12:04:06,498: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:06,500: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_viewer.py, new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:06,501: DEBUG batch result is ('test_viewer.TestViewer.test_crash ... ok\n', 1, [], [], {})
test_viewer.TestViewer.test_crash ... ok
noseplugins.multiprocess 2017-10-13 12:04:06,501: DEBUG Ran 1 tests (total: 12)
noseplugins.multiprocess 2017-10-13 12:04:06,501: DEBUG joining worker 5
2017-10-13 12:04:06,508 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,508 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
Coin debug: socontexthandler_cleanup(): 10 context-bound resources not free'd before exit.
2017-10-13 12:04:06,528 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,528 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,528 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,528 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,536 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4956590)
2017-10-13 12:04:06,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 12 value is not in limits 1.000000e+00<3.050000e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 1.000000e+00<-1.500001e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 1.000000e+00<-1.000000e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 22 value is not in limits 1.000000e+00<5.480002e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 23 value is not in limits 1.000000e+00<1.000000e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 25 value is not in limits 1.000000e+00<8.800000e-02
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 27 value is not in limits 1.000000e+00<5.646018e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 29 value is not in limits 1.000000e+00<6.500008e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 1.000000e+00<-1.500001e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 1.000000e+00<-1.000000e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 34 value is not in limits 1.000000e+00<5.480002e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 35 value is not in limits 1.000000e+00<1.000000e-01
2017-10-13 12:04:06,562 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 37 value is not in limits 1.000000e+00<8.800000e-02
noseplugins.multiprocess 2017-10-13 12:04:06,566: DEBUG starting new process on worker 5
2017-10-13 12:04:06,567 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,567 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,572 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:06,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:06,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:06,574: DEBUG Waiting for results (26/158 tasks), next timeout=994.876s
2017-10-13 12:04:06,586 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,586 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,586 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,586 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,597 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
noseplugins.multiprocess 2017-10-13 12:04:06,607: DEBUG Worker 5 executing, pid=6959
noseplugins.multiprocess 2017-10-13 12:04:06,610: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>), args: None
noseplugins.multiprocess 2017-10-13 12:04:06,610: DEBUG suite 139783299412944 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e40c80>
2017-10-13 12:04:06,611 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:06,614 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:06,614 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,614 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,636 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,636 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,636 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,636 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,645 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:06,646: DEBUG suite 139783299413904 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e40c80>
noseplugins.multiprocess 2017-10-13 12:04:06,646: DEBUG suite 139783299412496 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e40c80>
noseplugins.multiprocess 2017-10-13 12:04:06,646: DEBUG queue 10 tests
2017-10-13 12:04:06,648 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:06,663: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:06,664: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl, new tasks: 10
noseplugins.multiprocess 2017-10-13 12:04:06,664: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:06,664: DEBUG Ran 0 tests (total: 12)
noseplugins.multiprocess 2017-10-13 12:04:06,664: DEBUG joining worker 5
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('test.zae',), {}
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,689 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,689 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
noseplugins.multiprocess 2017-10-13 12:04:06,696: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:06,704: DEBUG Waiting for results (27/168 tasks), next timeout=994.746s
2017-10-13 12:04:06,705 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,705 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,725 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,725 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,725 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,725 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,730 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body floorwalls link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:06,732 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:06,733 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole2 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:06,733 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body pole3 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:06,734 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,734 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body wall1 link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:06,734 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,736 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body segway link 0 has empty name, so setting to _dummylink0_!
2017-10-13 12:04:06,737 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
noseplugins.multiprocess 2017-10-13 12:04:06,746: DEBUG Worker 5 executing, pid=6970
noseplugins.multiprocess 2017-10-13 12:04:06,748: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>), args: None
noseplugins.multiprocess 2017-10-13 12:04:06,748: DEBUG suite 139783299337808 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41c80>
2017-10-13 12:04:06,749 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:06,753 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,753 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,772 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,772 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,772 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,772 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,779 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5fa0)
2017-10-13 12:04:06,789 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:06,789 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,789 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:06,789 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:06,789 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:06,813 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:06,813: DEBUG suite 139783299412944 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_collision>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41c80>
noseplugins.multiprocess 2017-10-13 12:04:06,814: DEBUG suite 139783299338000 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41c80>
noseplugins.multiprocess 2017-10-13 12:04:06,814: DEBUG queue 10 tests
noseplugins.multiprocess 2017-10-13 12:04:06,838: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:06,839: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode, new tasks: 10
noseplugins.multiprocess 2017-10-13 12:04:06,839: DEBUG batch result is ('', 0, [], [], {})
noseplugins.multiprocess 2017-10-13 12:04:06,839: DEBUG Ran 0 tests (total: 12)
noseplugins.multiprocess 2017-10-13 12:04:06,839: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:06,871: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:06,878: DEBUG Waiting for results (28/178 tasks), next timeout=994.571s
noseplugins.multiprocess 2017-10-13 12:04:06,921: DEBUG Worker 5 executing, pid=6978
noseplugins.multiprocess 2017-10-13 12:04:06,922: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_clone_basic (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:06,922: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41640>
2017-10-13 12:04:06,923 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:06,978 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:06,979: DEBUG suite 139783299146064 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e416e0>
openravepytest.TestEnvironment.LoadEnv (pid=6978): ('data/pr2test1.env.xml',), {}
2017-10-13 12:04:07,004 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint0_axis0' not found
2017-10-13 12:04:07,005 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint1_axis0' not found
2017-10-13 12:04:07,005 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint2_axis0' not found
2017-10-13 12:04:07,005 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint3_axis0' not found
2017-10-13 12:04:07,005 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint4_axis0' not found
2017-10-13 12:04:07,005 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint5_axis0' not found
2017-10-13 12:04:07,005 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint6_axis0' not found
2017-10-13 12:04:07,005 openrave [WARN] [colladareader.cpp:3963 ColladaReader::_ExtractKinematicsVisualBindings] Target Node 'visual0/node_joint7_axis0' not found
2017-10-13 12:04:07,008 openrave [WARN] [colladareader.cpp:1334 ColladaReader::ExtractKinematicsModel] failed to find visual node for instance kinematics model kmodel0_inst, creating without any geometry
2017-10-13 12:04:07,008 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Base, nodeid=
2017-10-13 12:04:07,008 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L1, nodeid=
2017-10-13 12:04:07,008 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L2, nodeid=
2017-10-13 12:04:07,008 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L3, nodeid=
2017-10-13 12:04:07,008 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L4, nodeid=
2017-10-13 12:04:07,009 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:L5, nodeid=
2017-10-13 12:04:07,009 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Gripper_Base, nodeid=
2017-10-13 12:04:07,009 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Gripper_Right, nodeid=
2017-10-13 12:04:07,009 openrave [WARN] [colladareader.cpp:1726 KinBody::LinkPtr OpenRAVE::ColladaReader::ExtractLink] failed to find rigid_body info for link Katana6M180:Gripper_Left, nodeid=
2017-10-13 12:04:07,010 openrave [WARN] [colladareader.cpp:1198 ColladaReader::ExtractArticulatedSystem] body Katana6M180 does not have any binding model URIs, re-saving as external reference will not work
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
2017-10-13 12:04:07,013 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 1) (userdatakey fclcollision0x55be59acce00)
openravepy.databases.inversekinematics: generate, Generating inverse kinematics for manip arm: TranslationDirection5D [0, 1, 2, 3, 4], precision=8, maxcasedepth=3 (this might take up to 10 min)
openravepy.databases.inversekinematics: generate, creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.ab9d03903279e44bc692e896791bcd05/ikfast0x1000004a.TranslationDirection5D.0_1_2_3_4.cpp
openravepy.ikfast: forwardKinematicsChain, moved translation Matrix([[0, 0, 3/25]]) to right end
openravepy.ikfast: forwardKinematicsChain, moved translation Matrix([[0, 0, -133/2000]]) to left end
openravepy.ikfast: forwardKinematicsChain, moved translation on intersecting axis Matrix([[0, 0, 0]]) to left
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, -1, 0, 0],[0, 0, -1, 403/2000]]
openravepy.ikfast: generateIkSolver, [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]]
openravepy.ikfast: generateIkSolver, [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 1, 0, -19/100],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, -1, 0, -139/1000],[0, 0, -1, 0]]
openravepy.ikfast: generateIkSolver, [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast: generateIkSolver, [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast: generateIkSolver, [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 183/1000]]
2017-10-13 12:04:07,824 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:07,824 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:07,824 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:07,824 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:07,824 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:07,828 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,893 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,894 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,932 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,932 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,970 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,970 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,973 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,991 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:07,991 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
Traceback (most recent call last):
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/bin/openrave.py", line 126, in <module>
    database.run(args=args)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 1128, in run
    InverseKinematicsModel.RunFromParser(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 1093, in RunFromParser
    model = DatabaseGenerator.RunFromParser(Model=Model,parser=parser,robotatts=robotatts,args=args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/__init__.py", line 262, in RunFromParser
    model.autogenerate(options=options)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 714, in solveFullIK_TranslationDirection5D
    return self.ikfast.IKFastSolver.solveFullIK_TranslationDirection5D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2676, in solveFullIK_TranslationDirection5D
    self.Tfinal = zeros((4,4))
  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros
    return Matrix.zeros(*args, **kwargs)
  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros
    rows, cols = as_int(rows), as_int(cols)
  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int
    raise ValueError('%s is not an integer' % (n,))
ValueError: (4, 4) is not an integer
2017-10-13 12:04:08,011 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,011 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,011 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,011 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,019 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,075 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,075 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,095 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,095 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,095 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,095 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,103 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,103 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,105 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,121 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,122 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,141 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,141 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,141 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,141 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,148 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5ceab20)
2017-10-13 12:04:08,201 openrave [WARN] [ikfastmodule.cpp:521 LoadIKFastSolver] failed to find ikfile: kinematics.ab9d03903279e44bc692e896791bcd05/ikfast0x1000004a.TranslationDirection5D.x86_64.0_1_2_3_4.so
noseplugins.multiprocess 2017-10-13 12:04:08,344: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:08,345: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_databases.py, new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:08,345: DEBUG batch result is ('test_databases.TestDatabases.test_ikmodulegeneration ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e2d758>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_databases.py", line 38, in test_ikmodulegeneration\n    assert(out is not None)\nAssertionError: \n    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.module,\'ikfast\') = RaveCreateModule(RaveGetEnvironment(1),\'ikfast\')\n    RaveGetEnvironment(1).Add(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.module,\'ikfast\'))\n    None=RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.module,\'ikfast\').SendCommand(\'LoadIKFastSolver %s %d 1\'%(RaveGetEnvironment(1).GetRobot(\'Katana6M180\').GetName(),openravepy._openravepy_.openravepy_int.IkParameterizationType.TranslationDirection5D))\n>>  assert(None is not None)\n    assert(RaveGetEnvironment(1).GetRobot(\'Katana6M180\').GetManipulator(\'arm\').GetIkSolver() is not None)\n    \n')], [], {})
test_databases.TestDatabases.test_ikmodulegeneration ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:08,345: DEBUG Ran 1 tests (total: 13)
noseplugins.multiprocess 2017-10-13 12:04:08,345: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:08,377: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:08,386: DEBUG Waiting for results (29/178 tasks), next timeout=993.230s
noseplugins.multiprocess 2017-10-13 12:04:08,424: DEBUG Worker 3 executing, pid=6992
noseplugins.multiprocess 2017-10-13 12:04:08,425: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_cloneplan (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:08,425: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41640>
2017-10-13 12:04:08,426 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:08,469 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:08,469: DEBUG suite 139783299146064 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e416e0>
openravepytest.TestEnvironment.LoadEnv (pid=6992): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:08,472: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:08,533: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_writekinematicsonly(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:08,533: DEBUG batch result is ('test_collada.TestCOLLADA.test_writekinematicsonly ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e2d7a0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py", line 414, in test_writekinematicsonly\n    assert(len(filedata)<400000) # should be ~331kb\nAssertionError: \n    RaveGetEnvironment(1).GetRobot(\'pr2\') = <test_collada.TestCOLLADA object at 0x7f21d5e41110>.LoadRobot(\'robots/pr2-beta-static.zae\')\n    RaveGetEnvironment(1).Save(\'test_writekinematicsonly.dae\',Environment.SelectionOptions.Body,{\'target\':RaveGetEnvironment(1).GetRobot(\'pr2\').GetName(), \'skipwrite\':\'visual readable sensors physics\'})\n    \'<?xml version="1.0" encoding="UTF-8"?>\\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">\\n\\t<asset>\\n\\t\\t<contributor>\\n\\t\\t\\t<authoring_tool>OpenRAVE Collada Writer 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target="visual0/node_joint82_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint83_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint84_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint85_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint86_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t</instance_kinematics_scene>\\n\\t</scene>\\n\\t<extra id="sensors" type="library_sensors">\\n\\t\\t<technique profile="OpenRAVE">\\n\\t\\t\\t<sensor id="robot0_sensor0" name="pr2:r_forearm_cam_optical_sensor" type="base_pinhole_camera">\\n\\t\\t\\t\\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\\n\\t\\t\\t\\t<focal_length>0.01</focal_length>\\n\\t\\t\\t\\t<distortion_model>0</distortion_model>\\n\\t\\t\\t\\t<image_dimensions>640 480</image_dimensions>\\n\\t\\t\\t\\t<measurement_time>0.039999999100000003</measurement_time>\\n\\t\\t\\t\\t<gain>1</gain>\\n\\t\\t\\t</sensor>\\n\\t\\t\\t<sensor id="robot0_sensor1" name="pr2:l_forearm_cam_optical_sensor" type="base_pinhole_camera">\\n\\t\\t\\t\\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\\n\\t\\t\\t\\t<focal_length>0.01</focal_length>\\n\\t\\t\\t\\t<distortion_model>0</distortion_model>\\n\\t\\t\\t\\t<image_dimensions>640 480</image_dimensions>\\n\\t\\t\\t\\t<measurement_time>0.039999999100000003</measurement_time>\\n\\t\\t\\t\\t<gain>1</gain>\\n\\t\\t\\t</sensor>\\n\\t\\t\\t<sensor id="robot0_sensor2" name="pr2:tilt_laser" type="base_laser2d"/>\\n\\t\\t\\t<sensor id="robot0_sensor3" name="pr2:base_laser" type="base_laser2d"/>\\n\\t\\t</technique>\\n\\t</extra>\\n\\t<extra id="actuators" type="library_actuators">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n</COLLADA>\\n\'=open(\'test_writekinematicsonly.dae\',\'r\').read()\n>>  assert(len(\'<?xml version="1.0" encoding="UTF-8"?>\\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" 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target="visual0/node_joint82_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint83_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint84_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint85_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t\\t<bind_joint_axis target="visual0/node_joint86_axis0">\\n\\t\\t\\t\\t<axis>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0</param>\\n\\t\\t\\t\\t</axis>\\n\\t\\t\\t\\t<value>\\n\\t\\t\\t\\t\\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0_value</param>\\n\\t\\t\\t\\t</value>\\n\\t\\t\\t</bind_joint_axis>\\n\\t\\t</instance_kinematics_scene>\\n\\t</scene>\\n\\t<extra id="sensors" type="library_sensors">\\n\\t\\t<technique profile="OpenRAVE">\\n\\t\\t\\t<sensor id="robot0_sensor0" name="pr2:r_forearm_cam_optical_sensor" type="base_pinhole_camera">\\n\\t\\t\\t\\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\\n\\t\\t\\t\\t<focal_length>0.01</focal_length>\\n\\t\\t\\t\\t<distortion_model>0</distortion_model>\\n\\t\\t\\t\\t<image_dimensions>640 480</image_dimensions>\\n\\t\\t\\t\\t<measurement_time>0.039999999100000003</measurement_time>\\n\\t\\t\\t\\t<gain>1</gain>\\n\\t\\t\\t</sensor>\\n\\t\\t\\t<sensor id="robot0_sensor1" name="pr2:l_forearm_cam_optical_sensor" type="base_pinhole_camera">\\n\\t\\t\\t\\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\\n\\t\\t\\t\\t<focal_length>0.01</focal_length>\\n\\t\\t\\t\\t<distortion_model>0</distortion_model>\\n\\t\\t\\t\\t<image_dimensions>640 480</image_dimensions>\\n\\t\\t\\t\\t<measurement_time>0.039999999100000003</measurement_time>\\n\\t\\t\\t\\t<gain>1</gain>\\n\\t\\t\\t</sensor>\\n\\t\\t\\t<sensor id="robot0_sensor2" name="pr2:tilt_laser" type="base_laser2d"/>\\n\\t\\t\\t<sensor id="robot0_sensor3" name="pr2:base_laser" type="base_laser2d"/>\\n\\t\\t</technique>\\n\\t</extra>\\n\\t<extra id="actuators" type="library_actuators">\\n\\t\\t<technique profile="OpenRAVE"/>\\n\\t</extra>\\n</COLLADA>\\n\')<400000) # should be ~331kb\n    env2=Environment()\n    env2.Load(\'test_writekinematicsonly.dae\')\n    \n')], [], {})
test_collada.TestCOLLADA.test_writekinematicsonly ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:08,722: DEBUG Ran 1 tests (total: 14)
noseplugins.multiprocess 2017-10-13 12:04:08,722: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:08,722: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:08,740: DEBUG Waiting for results (30/178 tasks), next timeout=992.876s
noseplugins.multiprocess 2017-10-13 12:04:08,772: DEBUG Worker 6 executing, pid=7001
noseplugins.multiprocess 2017-10-13 12:04:08,773: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_dataccess (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:08,773: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41640>
2017-10-13 12:04:08,774 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:08,826 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:08,827: DEBUG suite 139783299146064 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e416e0>
2017-10-13 12:04:08,837 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:08,844 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
2017-10-13 12:04:08,845 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "bobcat.robot.xml"
2017-10-13 12:04:08,845 openrave [WARN] [environment-core.h:492 Load] load failed on file bobcat.robot.xml
noseplugins.multiprocess 2017-10-13 12:04:08,919: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:08,919: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladagrabbing(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:08,920: DEBUG batch result is ('test_collada.TestCOLLADA.test_colladagrabbing ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_colladagrabbing ... ok
noseplugins.multiprocess 2017-10-13 12:04:08,920: DEBUG Ran 1 tests (total: 15)
noseplugins.multiprocess 2017-10-13 12:04:08,920: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:08,935: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:08,951: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:08,959: DEBUG Waiting for results (31/178 tasks), next timeout=992.657s
noseplugins.multiprocess 2017-10-13 12:04:08,959: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_dataccess(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:08,959: DEBUG batch result is ('test_environment.TestEnvironment.test_dataccess ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e2db00>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 219, in test_dataccess\n    assert(env2.Load(\'bobcat.robot.xml\'))\nAssertionError: \n    RaveSetDataAccess(0)\n>>  assert(RaveGetEnvironment(2).Load(\'bobcat.robot.xml\'))\n    assert(RaveGetEnvironment(2).Load(\'../ikfastrobots/fail1.robot.xml\'))\n    RaveGetEnvironment(2).Reset()\n    \n')], [], {})
test_environment.TestEnvironment.test_dataccess ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:08,960: DEBUG Ran 1 tests (total: 16)
noseplugins.multiprocess 2017-10-13 12:04:08,960: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:08,960: DEBUG starting new process on worker 6
2017-10-13 12:04:08,970 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:08,970 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:08,970 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:08,970 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:08,970 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:08,974 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
noseplugins.multiprocess 2017-10-13 12:04:08,968: DEBUG Waiting for results (32/178 tasks), next timeout=992.647s
noseplugins.multiprocess 2017-10-13 12:04:09,006: DEBUG Worker 6 executing, pid=7019
noseplugins.multiprocess 2017-10-13 12:04:09,007: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_load (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:09,007: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41640>
2017-10-13 12:04:09,008 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:09,013: DEBUG Worker 1 executing, pid=7018
noseplugins.multiprocess 2017-10-13 12:04:09,014: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_load_cwd (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:09,014: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e41640>
2017-10-13 12:04:09,015 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:09,033 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,034 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,061 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,061 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,062 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:09,063: DEBUG suite 139783299146128 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e416e0>
openravepytest.TestEnvironment.LoadEnv (pid=7019): ('../src/models/WAM/wam0.iv',), {}
2017-10-13 12:04:09,074 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "../src/models/WAM/wam0.iv"
2017-10-13 12:04:09,074 openrave [WARN] [environment-core.h:492 Load] load failed on file ../src/models/WAM/wam0.iv
2017-10-13 12:04:09,079 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:09,080: DEBUG suite 139783299146064 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e416e0>
2017-10-13 12:04:09,082 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,082 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,082 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,082 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,087 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "testdata/box0.dae"
2017-10-13 12:04:09,087 openrave [WARN] [environment-core.h:492 Load] load failed on file testdata/box0.dae
2017-10-13 12:04:09,090 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,090 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,093 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,109 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,109 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,129 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,129 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,129 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,129 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,137 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,176 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,186 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 1.110223e-16<1.150000e-02
2017-10-13 12:04:09,186 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:09,186 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:09,186 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:09,186 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:09,190 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,192 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,193 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
noseplugins.multiprocess 2017-10-13 12:04:09,199: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:09,200: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_load(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:09,200: DEBUG batch result is ('test_environment.TestEnvironment.test_load ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e2db48>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 22, in test_load\n    self.LoadEnv(\'../src/models/WAM/wam0.iv\')\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 140, in LoadEnv\n    assert(self.env.Load(*args,**kwargs))\nAssertionError: \n    <test_environment.TestEnvironment object at 0x7f21d5e42150>.<logging.Logger object at 0x7f21fecbff10>.info(\'%r, %r\',(\'../src/models/WAM/wam0.iv\',),{})\n>>  assert(<test_environment.TestEnvironment object at 0x7f21d5e42150>.env.Load(*(\'../src/models/WAM/wam0.iv\',),**{}))\n    <test_environment.TestEnvironment object at 0x7f21d5e42150>._PreprocessEnv()\n    \n')], [], {})
test_environment.TestEnvironment.test_load ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:09,200: DEBUG Ran 1 tests (total: 17)
noseplugins.multiprocess 2017-10-13 12:04:09,200: DEBUG joining worker 6
2017-10-13 12:04:09,211 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,211 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,211 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,211 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
noseplugins.multiprocess 2017-10-13 12:04:09,216: DEBUG starting new process on worker 6
2017-10-13 12:04:09,219 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,219 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,221 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
noseplugins.multiprocess 2017-10-13 12:04:09,223: DEBUG Waiting for results (33/178 tasks), next timeout=992.392s
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,230 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,231 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:09,231: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:09,231: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_load_cwd(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:09,231: DEBUG batch result is ('test_environment.TestEnvironment.test_load_cwd ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e2dd40>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 240, in test_load_cwd\n    assert(env.Load(\'testdata/box0.dae\'))\nAssertionError: \n>>  assert(RaveGetEnvironment(1).Load(\'testdata/box0.dae\'))\n    assert(not RaveGetEnvironment(1).Load(\'box0.dae\'))\n    <module \'os\' from \'/usr/lib64/python2.7/os.pyc\'>.chdir(\'testdata\')\n    \n')], [], {})
test_environment.TestEnvironment.test_load_cwd ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:09,231: DEBUG Ran 1 tests (total: 18)
noseplugins.multiprocess 2017-10-13 12:04:09,231: DEBUG joining worker 1
2017-10-13 12:04:09,237 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,237 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
noseplugins.multiprocess 2017-10-13 12:04:09,240: DEBUG Worker 6 executing, pid=7034
noseplugins.multiprocess 2017-10-13 12:04:09,241: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_loadnogeom (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:09,241: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
2017-10-13 12:04:09,243 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:09,247 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,248 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:09,253: DEBUG starting new process on worker 1
2017-10-13 12:04:09,255 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,255 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,255 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,255 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
noseplugins.multiprocess 2017-10-13 12:04:09,258: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:09,262: DEBUG Waiting for results (34/178 tasks), next timeout=992.354s
noseplugins.multiprocess 2017-10-13 12:04:09,262: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_colladascenes(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:09,262: DEBUG batch result is ('test_collada.TestCOLLADA.test_colladascenes ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_colladascenes ... ok
noseplugins.multiprocess 2017-10-13 12:04:09,262: DEBUG Ran 1 tests (total: 19)
noseplugins.multiprocess 2017-10-13 12:04:09,262: DEBUG joining worker 2
2017-10-13 12:04:09,262 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,262 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,262 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,262 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,262 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,262 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,262 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,263 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4ee5af0)
2017-10-13 12:04:09,267 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,267 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,267 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,267 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,277 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,277 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,279 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,282 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:09,282: DEBUG suite 139783299150160 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42780>
openravepytest.TestEnvironment.LoadEnv (pid=7034): ('robots/pr2-beta-static.zae', {'skipgeometry': '1'}), {}
noseplugins.multiprocess 2017-10-13 12:04:09,287: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:09,294: DEBUG Worker 1 executing, pid=7046
noseplugins.multiprocess 2017-10-13 12:04:09,295: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_misc (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:09,295: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
2017-10-13 12:04:09,296 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:09,296 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,296 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
openravepy.databases.inversekinematics.GetDefaultIndices (pid=6978): found 3-intersection centered on index 18
openravepy.databases.inversekinematics.GetDefaultIndices (pid=6978): found 3-intersection centered on index 20
openravepy.databases.inversekinematics.GetDefaultIndices (pid=6978): found 3-intersection centered on index 18
openravepy.databases.inversekinematics.GetDefaultIndices (pid=6978): found 3-intersection centered on index 20
openravepy.databases.inversekinematics.generate (pid=6978): Generating inverse kinematics for manip leftarm: Transform6D [15, 16, 18, 19, 20, 21], precision=None, maxcasedepth=3 (this might take up to 10 min)
noseplugins.multiprocess 2017-10-13 12:04:09,300: DEBUG Waiting for results (35/178 tasks), next timeout=992.315s
openravepy.databases.inversekinematics.generate (pid=6978): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.9ff4f1d77a61494bbd09f843fedb0314/ikfast0x1000004a.Transform6D.15_16_18_19_20_21_f17.cpp
2017-10-13 12:04:09,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,323 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:09,337: DEBUG Worker 2 executing, pid=7052
noseplugins.multiprocess 2017-10-13 12:04:09,338: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_multithread (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:09,338: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
2017-10-13 12:04:09,339 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:09,351 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:09,352: DEBUG suite 139783299154320 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42780>
openravepytest.TestEnvironment.LoadEnv (pid=7046): ('data/lab1.env.xml',), {}
2017-10-13 12:04:09,381 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:09,382: DEBUG suite 139783299154256 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42780>
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,388 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,389 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,389 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,389 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,389 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,389 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,389 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
openravepytest.TestEnvironment.test_multithread (pid=7052): test multiple threads accessing same resource
2017-10-13 12:04:09,405 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,405 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
openravepytest.TestEnvironment.mythread (pid=7052): t0: 0
2017-10-13 12:04:09,424 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,424 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,424 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,424 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,432 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,432 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,434 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,451 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,451 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,470 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,470 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,470 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,470 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:09,478 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
openravepy.ikfast.forwardKinematicsChain (pid=6978): moved translation Matrix([[0, 0, 0]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=6978): moved translation Matrix([[0, 0, 0]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=6978): moved translation on intersecting axis Matrix([[0, 0, 321/1000]]) to left
openravepy.ikfast.generateIkSolver (pid=6978): [[1, 0, 0, 0],[0, 1, 0, 47/250],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[cos(j15), -sin(j15), 0, 0],[sin(j15), cos(j15), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[1, 0, 0, 1/10],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[cos(j16), -sin(j16), 0, 0],[sin(j16), cos(j16), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[cos(j17), -sin(j17), 0, 0],[sin(j17), cos(j17), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 2/5]]
openravepy.ikfast.generateIkSolver (pid=6978): [[cos(j18), -sin(j18), 0, 0],[sin(j18), cos(j18), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[0, 0, 1, 321/1000],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[cos(j19), -sin(j19), 0, 0],[sin(j19), cos(j19), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[cos(j20), -sin(j20), 0, 0],[sin(j20), cos(j20), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[cos(j21), -sin(j21), 0, 0],[sin(j21), cos(j21), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=6978): [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]]
2017-10-13 12:04:09,844 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 1.110223e-16<1.150000e-02
2017-10-13 12:04:09,844 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:09,844 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:09,844 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:09,844 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:09,848 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,890 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,908 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,908 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,928 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,928 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,928 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,928 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,936 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,936 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,939 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,956 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,956 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,977 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,977 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,977 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,977 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,985 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:09,986 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,028 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
openravepytest.TestCOLLADA.test_collada_loading (pid=6799): checking collada robots/barrettsegway.robot.xml
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('robots/barrettsegway.robot.xml',), {}
2017-10-13 12:04:10,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,059 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,103 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,103 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,103 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,103 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,124 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,124 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,127 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,152 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,152 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,198 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,198 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,198 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,198 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,220 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:10,812 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:10,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:10,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:10,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:10,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,813 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,814 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,815 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
2017-10-13 12:04:10,816 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd48efa30)
noseplugins.multiprocess 2017-10-13 12:04:10,828: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:10,829: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_loadnogeom(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:10,829: DEBUG batch result is ('test_environment.TestEnvironment.test_loadnogeom ... ok\n', 1, [], [], {})
test_environment.TestEnvironment.test_loadnogeom ... ok
noseplugins.multiprocess 2017-10-13 12:04:10,829: DEBUG Ran 1 tests (total: 20)
noseplugins.multiprocess 2017-10-13 12:04:10,829: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:10,844: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:10,853: DEBUG Waiting for results (36/178 tasks), next timeout=990.763s
2017-10-13 12:04:10,878 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:10,878 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:10,878 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:10,878 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:10,878 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:10,880: DEBUG Worker 6 executing, pid=7067
noseplugins.multiprocess 2017-10-13 12:04:10,881: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_scalegeometry (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:10,882: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
2017-10-13 12:04:10,882 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:10,899: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:10,899: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_cloneplan(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:10,899: DEBUG batch result is ('test_environment.TestEnvironment.test_cloneplan ... ok\n', 1, [], [], {})
test_environment.TestEnvironment.test_cloneplan ... ok
noseplugins.multiprocess 2017-10-13 12:04:10,900: DEBUG Ran 1 tests (total: 21)
noseplugins.multiprocess 2017-10-13 12:04:10,900: DEBUG joining worker 3
2017-10-13 12:04:10,913 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:10,914: DEBUG suite 139783299154256 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42780>
2017-10-13 12:04:10,921 openrave [WARN] [colladawriter.cpp:1877 ColladaWriter::LINKOUTPUT OpenRAVE::ColladaWriter::_WriteLink] body mug1 link 0 has empty name, so setting to _dummylink0_!
noseplugins.multiprocess 2017-10-13 12:04:10,931: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:10,939: DEBUG Waiting for results (37/178 tasks), next timeout=990.677s
noseplugins.multiprocess 2017-10-13 12:04:10,967: DEBUG Worker 3 executing, pid=7076
noseplugins.multiprocess 2017-10-13 12:04:10,968: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_trylock (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:10,969: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
2017-10-13 12:04:10,969 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:10,971: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:10,971: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_misc(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:10,971: DEBUG batch result is ('test_environment.TestEnvironment.test_misc ... ok\n', 1, [], [], {})
test_environment.TestEnvironment.test_misc ... ok
noseplugins.multiprocess 2017-10-13 12:04:10,971: DEBUG Ran 1 tests (total: 22)
noseplugins.multiprocess 2017-10-13 12:04:10,971: DEBUG joining worker 1
openravepytest.TestEnvironment.mythread (pid=7052): t1: 0
2017-10-13 12:04:11,000 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,000: DEBUG suite 139783299154256 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42780>
openravepytest.TestEnvironment.OtherThread (pid=7076): OtherThread started
noseplugins.multiprocess 2017-10-13 12:04:11,003: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,011: DEBUG Waiting for results (38/178 tasks), next timeout=990.604s
noseplugins.multiprocess 2017-10-13 12:04:11,019: DEBUG Worker 1 executing, pid=7087
noseplugins.multiprocess 2017-10-13 12:04:11,020: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_unicode (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,021: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
2017-10-13 12:04:11,021 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,050 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,051: DEBUG suite 139783299154256 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42730>
noseplugins.multiprocess 2017-10-13 12:04:11,087: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:11,087: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_unicode(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,087: DEBUG batch result is ('test_environment.TestEnvironment.test_unicode ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e30248>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 104, in test_unicode\n    shutil.copyfile(srcfile,destfile)\n  File "/usr/lib64/python2.7/shutil.py", line 82, in copyfile\n    with open(src, \'rb\') as fsrc:\nIOError: [Errno 2] No such file or directory: \'/usr/share/openrave/models/WAM/wam0.iv\'\n')], {})
test_environment.TestEnvironment.test_unicode ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:11,087: DEBUG Ran 1 tests (total: 23)
noseplugins.multiprocess 2017-10-13 12:04:11,087: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,092: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:11,092: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,098: DEBUG Waiting for results (39/178 tasks), next timeout=990.517s
noseplugins.multiprocess 2017-10-13 12:04:11,099: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_scalegeometry(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,099: DEBUG batch result is ('test_environment.TestEnvironment.test_scalegeometry ... ok\n', 1, [], [], {})
test_environment.TestEnvironment.test_scalegeometry ... ok
noseplugins.multiprocess 2017-10-13 12:04:11,099: DEBUG Ran 1 tests (total: 24)
noseplugins.multiprocess 2017-10-13 12:04:11,099: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,099: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,106: DEBUG Worker 1 executing, pid=7103
noseplugins.multiprocess 2017-10-13 12:04:11,107: DEBUG Waiting for results (40/178 tasks), next timeout=990.508s
noseplugins.multiprocess 2017-10-13 12:04:11,108: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_uri (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,108: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
2017-10-13 12:04:11,109 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,115: DEBUG Worker 6 executing, pid=7106
noseplugins.multiprocess 2017-10-13 12:04:11,116: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_geometry.py:test_transformations (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,117: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42640>
2017-10-13 12:04:11,118 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,139 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,139: DEBUG suite 139783299154320 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestEnvironment>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e426e0>
openravepytest.TestEnvironment.LoadDataEnv (pid=7103): LoadDataEnv
2017-10-13 12:04:11,147 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,147: DEBUG suite 139783299154256 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e42640>
openravepytest.test_transformations (pid=7106): tests basic math transformations
2017-10-13 12:04:11,162 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:04:11,177: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:11,177: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_uri(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,177: DEBUG batch result is ('test_environment.TestEnvironment.test_uri ... ok\n', 1, [], [], {})
test_environment.TestEnvironment.test_uri ... ok
noseplugins.multiprocess 2017-10-13 12:04:11,178: DEBUG Ran 1 tests (total: 25)
noseplugins.multiprocess 2017-10-13 12:04:11,178: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,183: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,190: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:11,191: DEBUG Waiting for results (41/178 tasks), next timeout=990.425s
noseplugins.multiprocess 2017-10-13 12:04:11,191: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_geometry.py:test_transformations(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,191: DEBUG batch result is ('test_geometry.test_transformations ... ok\n', 1, [], [], {})
test_geometry.test_transformations ... ok
noseplugins.multiprocess 2017-10-13 12:04:11,191: DEBUG Ran 1 tests (total: 26)
noseplugins.multiprocess 2017-10-13 12:04:11,191: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,196: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,198: DEBUG Worker 1 executing, pid=7120
noseplugins.multiprocess 2017-10-13 12:04:11,200: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_geometry.py:test_quatRotateDirection (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,200: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43640>
2017-10-13 12:04:11,201 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,204: DEBUG Waiting for results (42/178 tasks), next timeout=990.412s
noseplugins.multiprocess 2017-10-13 12:04:11,212: DEBUG Worker 6 executing, pid=7125
noseplugins.multiprocess 2017-10-13 12:04:11,214: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py:test_tutorialexamples (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>), args: None
noseplugins.multiprocess 2017-10-13 12:04:11,214: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43690>
2017-10-13 12:04:11,214 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,230 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,231: DEBUG suite 139783299154256 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_geometry>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43640>
noseplugins.multiprocess 2017-10-13 12:04:11,233: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:11,233: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_geometry.py:test_quatRotateDirection(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,233: DEBUG batch result is ('test_geometry.test_quatRotateDirection ... ok\n', 1, [], [], {})
test_geometry.test_quatRotateDirection ... ok
noseplugins.multiprocess 2017-10-13 12:04:11,234: DEBUG Ran 1 tests (total: 27)
noseplugins.multiprocess 2017-10-13 12:04:11,234: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,238: DEBUG starting new process on worker 1
2017-10-13 12:04:11,244 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,244: DEBUG suite 139783299535056 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43690>
noseplugins.multiprocess 2017-10-13 12:04:11,244: DEBUG suite 139783299537360 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_tutorialexamples>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43690>
noseplugins.multiprocess 2017-10-13 12:04:11,246: DEBUG Waiting for results (43/178 tasks), next timeout=990.370s
noseplugins.multiprocess 2017-10-13 12:04:11,247: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:11,248: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py:test_tutorialexamples, new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,248: DEBUG batch result is ("Failure: OSError ([Errno 2] No such file or directory: '../docs/source/tutorials/openravepy_examples') ... ERROR\n", 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e30758>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/loader.py", line 251, in generate\n    for test in g():\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py", line 48, in test_tutorialexamples\n    for name in os.listdir(examplesdir):\nOSError: [Errno 2] No such file or directory: \'../docs/source/tutorials/openravepy_examples\'\n')], {})
Failure: OSError ([Errno 2] No such file or directory: '../docs/source/tutorials/openravepy_examples') ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:11,248: DEBUG Ran 1 tests (total: 28)
noseplugins.multiprocess 2017-10-13 12:04:11,248: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,252: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,254: DEBUG Worker 1 executing, pid=7133
noseplugins.multiprocess 2017-10-13 12:04:11,255: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py:test_ikparam (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,255: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e445f0>
2017-10-13 12:04:11,256 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,260: DEBUG Waiting for results (44/178 tasks), next timeout=990.356s
noseplugins.multiprocess 2017-10-13 12:04:11,269: DEBUG Worker 6 executing, pid=7141
noseplugins.multiprocess 2017-10-13 12:04:11,270: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py:test_pluginloading (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,270: DEBUG suite 139783299337808 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e455a0>
2017-10-13 12:04:11,271 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,286 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,287: DEBUG suite 139783299535632 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e445f0>
noseplugins.multiprocess 2017-10-13 12:04:11,288: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:11,289: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py:test_ikparam(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,289: DEBUG batch result is ('test_global.test_ikparam ... ok\n', 1, [], [], {})
test_global.test_ikparam ... ok
noseplugins.multiprocess 2017-10-13 12:04:11,289: DEBUG Ran 1 tests (total: 29)
noseplugins.multiprocess 2017-10-13 12:04:11,289: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,294: DEBUG starting new process on worker 1
2017-10-13 12:04:11,301 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,301: DEBUG suite 139783299415888 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_global>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e455a0>
noseplugins.multiprocess 2017-10-13 12:04:11,302: DEBUG Waiting for results (45/178 tasks), next timeout=990.314s
noseplugins.multiprocess 2017-10-13 12:04:11,303: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:11,304: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py:test_pluginloading(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,304: DEBUG batch result is ('test_global.test_pluginloading ... ok\n', 1, [], [], {})
test_global.test_pluginloading ... ok
noseplugins.multiprocess 2017-10-13 12:04:11,304: DEBUG Ran 1 tests (total: 30)
noseplugins.multiprocess 2017-10-13 12:04:11,304: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,308: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,310: DEBUG Worker 1 executing, pid=7149
noseplugins.multiprocess 2017-10-13 12:04:11,311: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail1 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,311: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e45500>
2017-10-13 12:04:11,312 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,316: DEBUG Waiting for results (46/178 tasks), next timeout=990.300s
noseplugins.multiprocess 2017-10-13 12:04:11,325: DEBUG Worker 6 executing, pid=7158
noseplugins.multiprocess 2017-10-13 12:04:11,326: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,326: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e45500>
2017-10-13 12:04:11,327 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,340 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,340: DEBUG suite 139783299413008 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e45500>
2017-10-13 12:04:11,342 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "ikfastrobots/fail1.dae"
noseplugins.multiprocess 2017-10-13 12:04:11,348: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:11,349: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail1(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,349: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_fail1 ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e30b00>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 168, in test_fail1\n    self.RunIkFast(\'ikfastrobots/fail1.dae\',\'arm\', IkParameterizationType.Transform6D, expectedruntime=450e-6,minimumsuccess=0.969)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast\n    env.Add(robot)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
test_ikfast_mandatory.TestIkFast.test_fail1 ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:11,349: DEBUG Ran 1 tests (total: 31)
noseplugins.multiprocess 2017-10-13 12:04:11,349: DEBUG joining worker 1
2017-10-13 12:04:11,356 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,356: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,357: DEBUG suite 139783299412048 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e45500>
2017-10-13 12:04:11,358 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "ikfastrobots/fail2.robot.xml"
noseplugins.multiprocess 2017-10-13 12:04:11,360: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:11,364: DEBUG Waiting for results (47/178 tasks), next timeout=990.252s
noseplugins.multiprocess 2017-10-13 12:04:11,364: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,364: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_fail2 ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e30c20>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 170, in test_fail2\n    self.RunIkFast(\'ikfastrobots/fail2.robot.xml\',\'arm\', IkParameterizationType.Transform6D, minimumsuccess=0.99)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast\n    env.Add(robot)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
test_ikfast_mandatory.TestIkFast.test_fail2 ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:11,365: DEBUG Ran 1 tests (total: 32)
noseplugins.multiprocess 2017-10-13 12:04:11,365: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,365: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,372: DEBUG Worker 1 executing, pid=7174
noseplugins.multiprocess 2017-10-13 12:04:11,373: DEBUG Waiting for results (48/178 tasks), next timeout=990.243s
noseplugins.multiprocess 2017-10-13 12:04:11,373: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail3 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,373: DEBUG suite 139783299338192 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43550>
2017-10-13 12:04:11,374 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,381: DEBUG Worker 6 executing, pid=7177
noseplugins.multiprocess 2017-10-13 12:04:11,382: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail5_4d_0 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,382: DEBUG suite 139783299412368 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43550>
2017-10-13 12:04:11,383 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,403 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,404: DEBUG suite 139783299489168 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43550>
2017-10-13 12:04:11,406 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "ikfastrobots/fail3.robot.xml"
noseplugins.multiprocess 2017-10-13 12:04:11,410: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:11,410: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail3(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,410: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_fail3 ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e30dd0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 172, in test_fail3\n    self.RunIkFast(\'ikfastrobots/fail3.robot.xml\',\'FLLeg\', IkParameterizationType.Transform6D, minimumsuccess=0.96)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast\n    env.Add(robot)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
2017-10-13 12:04:11,410 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
test_ikfast_mandatory.TestIkFast.test_fail3 ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:11,410: DEBUG Ran 1 tests (total: 33)
noseplugins.multiprocess 2017-10-13 12:04:11,411: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,411: DEBUG suite 139783299488848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e43550>
2017-10-13 12:04:11,413 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "ikfastrobots/fail5_4d.zae"
noseplugins.multiprocess 2017-10-13 12:04:11,415: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:04:11,418: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,425: DEBUG Waiting for results (49/178 tasks), next timeout=990.190s
noseplugins.multiprocess 2017-10-13 12:04:11,426: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail5_4d_0(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,426: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_fail5_4d_0 ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e30ea8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 179, in test_fail5_4d_0\n    self.RunIkFast(\'ikfastrobots/fail5_4d.zae\',\'0\', IkParameterizationType.TranslationXAxisAngleZNorm4D, minimumsuccess=1)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast\n    env.Add(robot)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
test_ikfast_mandatory.TestIkFast.test_fail5_4d_0 ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:11,426: DEBUG Ran 1 tests (total: 34)
noseplugins.multiprocess 2017-10-13 12:04:11,426: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,426: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:04:11,434: DEBUG Waiting for results (50/178 tasks), next timeout=990.182s
noseplugins.multiprocess 2017-10-13 12:04:11,434: DEBUG Worker 1 executing, pid=7194
noseplugins.multiprocess 2017-10-13 12:04:11,436: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail5_4d_Flange (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,436: DEBUG suite 139783299414800 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e34500>
2017-10-13 12:04:11,436 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,443: DEBUG Worker 6 executing, pid=7197
noseplugins.multiprocess 2017-10-13 12:04:11,444: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_kawada_hironx_left (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,444: DEBUG suite 139783299412944 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e354b0>
2017-10-13 12:04:11,445 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,465 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,466: DEBUG suite 139783299488848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e34500>
2017-10-13 12:04:11,473 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,474: DEBUG suite 139783471665296 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e354b0>
2017-10-13 12:04:11,475 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "ikfastrobots/fail5_4d.zae"
noseplugins.multiprocess 2017-10-13 12:04:11,480: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:04:11,481: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_fail5_4d_Flange(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:11,481: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_fail5_4d_Flange ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e34098>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 177, in test_fail5_4d_Flange\n    self.RunIkFast(\'ikfastrobots/fail5_4d.zae\',\'Flange\', IkParameterizationType.TranslationXAxisAngleZNorm4D, minimumsuccess=1)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast\n    env.Add(robot)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
test_ikfast_mandatory.TestIkFast.test_fail5_4d_Flange ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:11,481: DEBUG Ran 1 tests (total: 35)
noseplugins.multiprocess 2017-10-13 12:04:11,481: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,486: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:04:11,494: DEBUG Waiting for results (51/178 tasks), next timeout=990.121s
noseplugins.multiprocess 2017-10-13 12:04:11,503: DEBUG Worker 1 executing, pid=7209
noseplugins.multiprocess 2017-10-13 12:04:11,504: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_kawada_hironx_lefttorso (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:11,504: DEBUG suite 139783299413648 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e354b0>
2017-10-13 12:04:11,505 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:11,534 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:11,534: DEBUG suite 139783299452624 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e354b0>
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/WAIST with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/CHEST_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,864 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/WAIST with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/CHEST_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
2017-10-13 12:04:11,865 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6000)
openravepy.databases.inversekinematics.generate (pid=7197): Generating inverse kinematics for manip leftarm: Transform6D [13, 14, 15, 16, 17, 18], precision=None, maxcasedepth=3 (this might take up to 10 min)
openravepy.databases.inversekinematics.generate (pid=7197): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.a3efd6ebbec14ae1184319c65b8d1a99/ikfast0x1000004a.Transform6D.13_14_15_16_17_18.cpp
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/WAIST with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/CHEST_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,926 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/WAIST with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/CHEST_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/HEAD_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/RHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT4_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LARM_JOINT5_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT0_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT1_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT2_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
2017-10-13 12:04:11,927 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link HiroNX/LHAND_JOINT3_Link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4925e80)
openravepy.databases.inversekinematics.generate (pid=7209): Generating inverse kinematics for manip leftarm_torso: Transform6D [13, 14, 15, 16, 17, 18], precision=None, maxcasedepth=3 (this might take up to 10 min)
openravepy.databases.inversekinematics.generate (pid=7209): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.73b00fade606224fff41ab84a072b721/ikfast0x1000004a.Transform6D.13_14_15_16_17_18_f0.cpp
openravepy.ikfast.forwardKinematicsChain (pid=7197): moved translation Matrix([[0, 0, -1/25]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=7197): moved translation Matrix([[0, 0, 0]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=7197): moved translation on intersecting axis Matrix([[0, 0, -47/200]]) to left
openravepy.ikfast.generateIkSolver (pid=7197): [[1, 0, 0, 0],[0, 193185*sqrt(39999955921)/39999955921, 51764*sqrt(39999955921)/39999955921, 29/200],[0, -51764*sqrt(39999955921)/39999955921, 193185*sqrt(39999955921)/39999955921, 46287/125000]]
openravepy.ikfast.generateIkSolver (pid=7197): [[cos(j13), -sin(j13), 0, 0],[sin(j13), cos(j13), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[cos(j14), -sin(j14), 0, 0],[sin(j14), cos(j14), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[1, 0, 0, 0],[0, 1, 0, 1/4],[0, 0, 1, 19/200]]
openravepy.ikfast.generateIkSolver (pid=7197): [[cos(j15), -sin(j15), 0, 0],[sin(j15), cos(j15), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[1, 0, 0, -3/100],[0, 0, -1, 47/200],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[cos(j16), -sin(j16), 0, 0],[sin(j16), cos(j16), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[cos(j17), -sin(j17), 0, 0],[sin(j17), cos(j17), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[0, 0, 1, 0],[1, 0, 0, 9/100],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[cos(j18), -sin(j18), 0, 0],[sin(j18), cos(j18), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7197): [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, -1/25]]
openravepy.ikfast.forwardKinematicsChain (pid=7209): moved translation Matrix([[0, 0, -1/25]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=7209): moved translation Matrix([[0, 0, 46287/125000]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=7209): moved translation on intersecting axis Matrix([[0, 0, -47/200]]) to left
openravepy.ikfast.generateIkSolver (pid=7209): [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 46287/125000]]
openravepy.ikfast.generateIkSolver (pid=7209): [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[1, 0, 0, 0],[0, 193185*sqrt(39999955921)/39999955921, 51764*sqrt(39999955921)/39999955921, 29/200],[0, -51764*sqrt(39999955921)/39999955921, 193185*sqrt(39999955921)/39999955921, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[cos(j13), -sin(j13), 0, 0],[sin(j13), cos(j13), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[cos(j14), -sin(j14), 0, 0],[sin(j14), cos(j14), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[1, 0, 0, 0],[0, 1, 0, 1/4],[0, 0, 1, 19/200]]
openravepy.ikfast.generateIkSolver (pid=7209): [[cos(j15), -sin(j15), 0, 0],[sin(j15), cos(j15), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[1, 0, 0, -3/100],[0, 0, -1, 47/200],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[cos(j16), -sin(j16), 0, 0],[sin(j16), cos(j16), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[cos(j17), -sin(j17), 0, 0],[sin(j17), cos(j17), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[0, 0, 1, 0],[1, 0, 0, 9/100],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[cos(j18), -sin(j18), 0, 0],[sin(j18), cos(j18), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7209): [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, -1/25]]
openravepytest.TestEnvironment.mythread (pid=7052): t0: 1
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('test.zae',), {}
2017-10-13 12:04:13,366 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 1.110223e-16<1.150000e-02
2017-10-13 12:04:13,366 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:13,366 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:13,366 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:13,366 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:13,369 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,410 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,427 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,427 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,458 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,475 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,475 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,494 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,494 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,494 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,494 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,502 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,502 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,502 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,502 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,503 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,503 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,503 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,503 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,503 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,546 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,584 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,584 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,584 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,584 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,592 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,592 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,612 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,612 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
2017-10-13 12:04:13,640 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 2) (userdatakey fclcollision0x555cd5cfdca0)
openravepytest.TestEnvironment.mythread (pid=7052): t2: 0
openravepytest.TestCOLLADA.test_collada_loading (pid=6799): checking collada robots/neuronics-katana.zae
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('robots/neuronics-katana.zae',), {}
noseplugins.multiprocess 2017-10-13 12:04:14,248: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:14,248: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_saving(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:14,248: DEBUG batch result is ('test_collada.TestCOLLADA.test_saving ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_saving ... ok
noseplugins.multiprocess 2017-10-13 12:04:14,249: DEBUG Ran 1 tests (total: 36)
noseplugins.multiprocess 2017-10-13 12:04:14,249: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:14,264: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:14,272: DEBUG Waiting for results (52/178 tasks), next timeout=987.343s
noseplugins.multiprocess 2017-10-13 12:04:14,282: DEBUG Worker 4 executing, pid=7221
noseplugins.multiprocess 2017-10-13 12:04:14,283: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_testik0 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:14,283: DEBUG suite 139783299489168 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e354b0>
2017-10-13 12:04:14,284 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:14,318 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:14,319: DEBUG suite 139783299451344 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkFast>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e354b0>
2017-10-13 12:04:14,320 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "ikfastrobots/testik0.zae"
noseplugins.multiprocess 2017-10-13 12:04:14,322: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:14,323: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_testik0(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:14,323: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_testik0 ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e34320>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 166, in test_testik0\n    self.RunIkFast(\'ikfastrobots/testik0.zae\',\'arm\', IkParameterizationType.Transform6D, expectedruntime=45e-6,minimumsuccess=1)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast\n    env.Add(robot)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
test_ikfast_mandatory.TestIkFast.test_testik0 ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:14,323: DEBUG Ran 1 tests (total: 37)
noseplugins.multiprocess 2017-10-13 12:04:14,323: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:14,330: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:14,338: DEBUG Waiting for results (53/178 tasks), next timeout=987.277s
noseplugins.multiprocess 2017-10-13 12:04:14,348: DEBUG Worker 4 executing, pid=7231
noseplugins.multiprocess 2017-10-13 12:04:14,350: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_circularfree (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:14,350: DEBUG suite 139783471665296 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e353c0>
2017-10-13 12:04:14,351 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:14,384 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:14,385: DEBUG suite 139783299537808 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e353c0>
2017-10-13 12:04:14,625 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,626 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,627 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,628 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,629 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,630 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,631 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,632 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,633 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,633 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,633 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,633 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,633 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,634 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,635 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,635 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:14,635 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
openravepytest.TestEnvironment.mythread (pid=7052): t1: 1
openravepy.databases.inversekinematics.generate (pid=7231): Generating inverse kinematics for manip arm: Transform6D [0, 1, 3, 4, 5, 6], precision=None, maxcasedepth=3 (this might take up to 10 min)
openravepy.databases.inversekinematics.generate (pid=7231): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.e9a051e4825529aa31892beb41684ca4/ikfast0x1000004a.Transform6D.0_1_3_4_5_6_f2.cpp
openravepy.ikfast.forwardKinematicsChain (pid=7231): moved translation Matrix([[0, 0, 0]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=7231): moved translation Matrix([[0, 0, 0]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=7231): moved translation on intersecting axis Matrix([[0, 0, 3/10]]) to left
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, 11/50],[0, 1, 0, 7/50],[0, 0, 1, 173/500]]
openravepy.ikfast.generateIkSolver (pid=7231): [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, 9/200],[0, 0, 1, 0],[0, -1, 0, 11/20]]
openravepy.ikfast.generateIkSolver (pid=7231): [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, -9/200],[0, 0, -1, -3/10],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[cos(j5), -sin(j5), 0, 0],[sin(j5), cos(j5), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[cos(j6), -sin(j6), 0, 0],[sin(j6), cos(j6), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7231): [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 3/50]]
openravepytest.TestEnvironment.OtherThread (pid=7076): OtherThread ended
noseplugins.multiprocess 2017-10-13 12:04:16,026: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:16,027: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_trylock(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:16,027: DEBUG batch result is ('test_environment.TestEnvironment.test_trylock ... ok\n', 1, [], [], {})
test_environment.TestEnvironment.test_trylock ... ok
noseplugins.multiprocess 2017-10-13 12:04:16,027: DEBUG Ran 1 tests (total: 38)
noseplugins.multiprocess 2017-10-13 12:04:16,027: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:16,059: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:16,067: DEBUG Waiting for results (54/178 tasks), next timeout=985.549s
noseplugins.multiprocess 2017-10-13 12:04:16,105: DEBUG Worker 3 executing, pid=7241
noseplugins.multiprocess 2017-10-13 12:04:16,106: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_customfilter (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:16,106: DEBUG suite 139783471665296 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35280>
2017-10-13 12:04:16,107 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:16,170 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:16,171: DEBUG suite 139783299537808 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35280>
openravepytest.TestIkSolver.LoadEnv (pid=7241): ('data/lab1.env.xml',), {}
openravepytest.TestEnvironment.mythread (pid=7052): t0: 2
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('test.zae',), {}
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7241): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7241): found 3-intersection centered on index 5
openravepy.ikfast.solveFullIK_6D (pid=7197): ikfast 6d: [j13, j14, j15, j16, j17, j18]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7197): found 3 consecutive non-intersecting axes links[2:7], vars=[j14, j15, j16]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7197): found 3 consecutive non-intersecting axes links[0:5], vars=[j13, j14, j15]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7197): found 3 consecutive non-intersecting axes links[4:9], vars=[j15, j16, j17]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7197): found 3 consecutive non-intersecting axes links[6:11], vars=[j16, j17, j18]
openravepy.ikfast.solveFullIK_6D (pid=7197): try first group 0/4
openravepytest.TestEnvironment.mythread (pid=7052): t2: 1
noseplugins.multiprocess 2017-10-13 12:04:18,231: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:18,232: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_customfilter(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:18,232: DEBUG batch result is ('test_iksolver.TestIkSolver.test_customfilter ... ok\n', 1, [], [], {})
test_iksolver.TestIkSolver.test_customfilter ... ok
noseplugins.multiprocess 2017-10-13 12:04:18,232: DEBUG Ran 1 tests (total: 39)
noseplugins.multiprocess 2017-10-13 12:04:18,232: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:18,264: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:18,272: DEBUG Waiting for results (55/178 tasks), next timeout=983.343s
noseplugins.multiprocess 2017-10-13 12:04:18,315: DEBUG Worker 3 executing, pid=7252
noseplugins.multiprocess 2017-10-13 12:04:18,316: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_customikvalues (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:18,316: DEBUG suite 139783299452112 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35280>
2017-10-13 12:04:18,317 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:18,371 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:18,372: DEBUG suite 139783299535952 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e35280>
openravepytest.TestIkSolver.LoadEnv (pid=7252): ('data/lab1.env.xml',), {}
openravepytest.TestCOLLADA.test_collada_loading (pid=6799): checking collada robots/pa10schunk.robot.xml
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('robots/pa10schunk.robot.xml',), {}
openravepy.ikfast.solveFullIK_6D (pid=6978): ikfast 6d: [j15, j16, j18, j19, j20, j21]
openravepytest.TestEnvironment.mythread (pid=7052): t3: 0
openravepy.ikfast.iterateThreeIntersectingAxes (pid=6978): found 3 consecutive intersecting axes links[8:13], rotvars=[j19, j20, j21], translationvars=[j15, j16, j18]
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7252): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7252): found 3-intersection centered on index 5
noseplugins.multiprocess 2017-10-13 12:04:20,221: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:20,222: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_customikvalues(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:20,222: DEBUG batch result is ('test_iksolver.TestIkSolver.test_customikvalues ... ok\n', 1, [], [], {})
test_iksolver.TestIkSolver.test_customikvalues ... ok
noseplugins.multiprocess 2017-10-13 12:04:20,222: DEBUG Ran 1 tests (total: 40)
noseplugins.multiprocess 2017-10-13 12:04:20,222: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:20,254: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:20,264: DEBUG Waiting for results (56/178 tasks), next timeout=981.351s
noseplugins.multiprocess 2017-10-13 12:04:20,299: DEBUG Worker 3 executing, pid=7262
noseplugins.multiprocess 2017-10-13 12:04:20,301: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_ikfastrobotsolutions (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:20,302: DEBUG suite 139783299452880 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
2017-10-13 12:04:20,303 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:20,378 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:20,379: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
openravepytest.TestIkSolver.LoadRobot (pid=7262): ('ikfastrobots/testik0.zae',), {}
2017-10-13 12:04:20,389 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "ikfastrobots/testik0.zae"
noseplugins.multiprocess 2017-10-13 12:04:20,417: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:20,418: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_ikfastrobotsolutions(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:20,418: DEBUG batch result is ('test_iksolver.TestIkSolver.test_ikfastrobotsolutions ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e34710>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py", line 256, in test_ikfastrobotsolutions\n    robot=self.LoadRobot(robotfilename)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 146, in LoadRobot\n    self.env.Add(robot,True)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
test_iksolver.TestIkSolver.test_ikfastrobotsolutions ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:20,418: DEBUG Ran 1 tests (total: 41)
noseplugins.multiprocess 2017-10-13 12:04:20,418: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:20,450: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:20,460: DEBUG Waiting for results (57/178 tasks), next timeout=981.155s
noseplugins.multiprocess 2017-10-13 12:04:20,507: DEBUG Worker 3 executing, pid=7272
noseplugins.multiprocess 2017-10-13 12:04:20,508: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_iksolutionjitter (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:20,508: DEBUG suite 139783299451280 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
2017-10-13 12:04:20,509 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:20,575 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:20,575: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
openravepytest.TestIkSolver.LoadEnv (pid=7272): ('data/lab1.env.xml',), {}
openravepytest.TestEnvironment.mythread (pid=7052): t1: 2
noseplugins.multiprocess 2017-10-13 12:04:21,032: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:21,033: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_individualuri(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:21,033: DEBUG batch result is ('test_collada.TestCOLLADA.test_individualuri ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_individualuri ... ok
noseplugins.multiprocess 2017-10-13 12:04:21,033: DEBUG Ran 1 tests (total: 42)
noseplugins.multiprocess 2017-10-13 12:04:21,033: DEBUG joining worker 0
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body0_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body1_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body2_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body3_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body4_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body5_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body6_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body7_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body8_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body9_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body10_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body11_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body12_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body13_motion
opening  file:/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test_individualuri.dae#body14_motion
noseplugins.multiprocess 2017-10-13 12:04:21,045: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:21,054: DEBUG Waiting for results (58/178 tasks), next timeout=980.562s
noseplugins.multiprocess 2017-10-13 12:04:21,063: DEBUG Worker 0 executing, pid=7282
noseplugins.multiprocess 2017-10-13 12:04:21,065: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_jointlimitsfilter (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:21,065: DEBUG suite 139783299451344 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
2017-10-13 12:04:21,066 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:21,104 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:21,105: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
openravepytest.TestIkSolver.LoadEnv (pid=7282): ('data/lab1.env.xml',), {}
openravepy.ikfast.solveFullIK_6D (pid=7209): ikfast 6d: [j13, j14, j15, j16, j17, j18]
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('test.zae',), {}
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7209): found 3 consecutive non-intersecting axes links[2:7], vars=[j14, j15, j16]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7209): found 3 consecutive non-intersecting axes links[0:5], vars=[j13, j14, j15]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7209): found 3 consecutive non-intersecting axes links[4:9], vars=[j15, j16, j17]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=7209): found 3 consecutive non-intersecting axes links[6:11], vars=[j16, j17, j18]
openravepy.ikfast.solveFullIK_6D (pid=7209): try first group 0/4
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7272): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7272): found 3-intersection centered on index 5
2017-10-13 12:04:22,157 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 9 value is not in limits -1.906893e-08<0.000000e+00
noseplugins.multiprocess 2017-10-13 12:04:22,169: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:22,170: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_iksolutionjitter(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:22,170: DEBUG batch result is ('test_iksolver.TestIkSolver.test_iksolutionjitter ... ok\n', 1, [], [], {})
test_iksolver.TestIkSolver.test_iksolutionjitter ... ok
noseplugins.multiprocess 2017-10-13 12:04:22,170: DEBUG Ran 1 tests (total: 43)
noseplugins.multiprocess 2017-10-13 12:04:22,170: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:22,177: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:22,186: DEBUG Waiting for results (59/178 tasks), next timeout=979.429s
noseplugins.multiprocess 2017-10-13 12:04:22,196: DEBUG Worker 3 executing, pid=7292
noseplugins.multiprocess 2017-10-13 12:04:22,197: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_returnactions (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:22,197: DEBUG suite 139783299414160 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36230>
2017-10-13 12:04:22,198 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
openravepy.ikfast.SolveAllEquations (pid=6978): depth=0 c=1, [j17] [j15, j16, j18]: cases=None
2017-10-13 12:04:22,232 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:22,232: DEBUG suite 139783299537616 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestIkSolver>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36230>
openravepytest.TestIkSolver.LoadEnv (pid=7292): ('data/lab1.env.xml',), {}
openravepytest.TestEnvironment.mythread (pid=7052): t2: 2
openravepytest.TestCOLLADA.test_collada_loading (pid=6799): checking collada robots/barrettwam-dual.robot.xml
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('robots/barrettwam-dual.robot.xml',), {}
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7282): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7282): found 3-intersection centered on index 5
noseplugins.multiprocess 2017-10-13 12:04:23,101: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:23,103: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_jointlimitsfilter(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:23,108: DEBUG batch result is ('test_iksolver.TestIkSolver.test_jointlimitsfilter ... ok\n', 1, [], [], {})
test_iksolver.TestIkSolver.test_jointlimitsfilter ... ok
noseplugins.multiprocess 2017-10-13 12:04:23,108: DEBUG Ran 1 tests (total: 44)
noseplugins.multiprocess 2017-10-13 12:04:23,108: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:23,140: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:23,157: DEBUG Waiting for results (60/178 tasks), next timeout=978.459s
noseplugins.multiprocess 2017-10-13 12:04:23,173: DEBUG Worker 0 executing, pid=7302
noseplugins.multiprocess 2017-10-13 12:04:23,174: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_bodybasic (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:23,174: DEBUG suite 139783299451280 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e361e0>
2017-10-13 12:04:23,175 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:23,230 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:23,230: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
openravepytest.TestKinematics.test_bodybasic (pid=7302): check if the joint-link set-get functions are consistent along with jacobians
openravepytest.TestKinematics.LoadEnv (pid=7302): ('data/lab1.env.xml', {'skipgeometry': '1'}), {}
openravepy.ikfast.SolvePairVariables (pid=6978): equation relies on unsolved variables([sj15, cj18, sj18]): -62500*cj15**2*cj17**2*px**2*sj17**2/(cj17**2 - 1) + 62500*cj15**2*cj17**2*py**2*sj17**2/(cj17**2 - 1) - 937500*cj15**2*px**2*sj17**2/(cj17**2 - 1) + 937500*cj15**2*py**2*sj17**2/(cj17**2 - 1) + 625000*cj15*cj17**2*pp*px*sj17**2/(cj17**2 - 1) - 125000*cj15*cj17**2*px*py*sj15*sj17**2/(cj17**2 - 1) - 1265205*cj15*cj17**2*px*sj17**2/(8*(cj17**2 - 1)) - 625000*cj15*pp*px*sj17**2/(cj17**2 - 1) - 1875000*cj15*px*py*sj15*sj17**2/(cj17**2 - 1) + 1265205*cj15*px*sj17**2/(8*(cj17**2 - 1)) - 1562500*cj17**2*pp**2*sj17**2/(cj17**2 - 1) + 625000*cj17**2*pp*py*sj15*sj17**2/(cj17**2 - 1) + 6326025*cj17**2*pp*sj17**2/(8*(cj17**2 - 1)) - 62500*cj17**2*py**2*sj17**2/(cj17**2 - 1) - 1265205*cj17**2*py*sj15*sj17**2/(8*(cj17**2 - 1)) + 1916492319*cj17**2*sj17**2/(640000*(cj17**2 - 1)) + 1562500*pp**2*sj17**2/(cj17**2 - 1) - 625000*pp*py*sj15*sj17**2/(cj17**2 - 1) - 6326025*pp*sj17**2/(8*(cj17**2 - 1)) + 1000000*px**2*sj17**2/(cj17**2 - 1) + 62500*py**2*sj17**2/(cj17**2 - 1) + 1265205*py*sj15*sj17**2/(8*(cj17**2 - 1)) - 1916492319*sj17**2/(640000*(cj17**2 - 1))
openravepytest.TestEnvironment.mythread (pid=7052): t3: 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7292): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7292): found 3-intersection centered on index 5
2017-10-13 12:04:23,794 openrave [VERBOSE] [ikfastsolver.cpp:1549 IkReturnAction IkFastSolver<IkReal>::_ValidateSolutionSingle] ikfast collision (mug2:mugbase)x(BarrettWAM:wam7), contacts=0 colvalues=[-0.01820297842921201,1.571251508647371,0.04999999999999992,0.9999999999999953,-4.733560948449711,-0.03223425424053723,-1.591968294860574,0,0,0,0]
2017-10-13 12:04:23,794 openrave [VERBOSE] [ikfastsolver.cpp:1549 IkReturnAction IkFastSolver<IkReal>::_ValidateSolutionSingle] ikfast collision (mug2:mugbase)x(BarrettWAM:wam7), contacts=0 colvalues=[-0.01820297842921201,1.571251508647371,0.04999999999999992,0.9999999999999953,-4.733560948449711,-0.03223425424053723,-1.591968294860574,0,0,0,0]
noseplugins.multiprocess 2017-10-13 12:04:23,823: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:23,824: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_clone_basic(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:23,824: DEBUG batch result is ('test_environment.TestEnvironment.test_clone_basic ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e34b48>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 152, in test_clone_basic\n    ikmodel.autogenerate()\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate\n    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D\n    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes\n    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes\n    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations\n    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables\n    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle\n    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically\n    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros\n    return Matrix.zeros(*args, **kwargs)\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros\n    rows, cols = as_int(rows), as_int(cols)\n  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int\n    raise ValueError(\'%s is not an integer\' % (n,))\nValueError: (4, 4) is not an integer\n')], {})
test_environment.TestEnvironment.test_clone_basic ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:23,824: DEBUG Ran 1 tests (total: 45)
noseplugins.multiprocess 2017-10-13 12:04:23,824: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:23,841: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:23,850: DEBUG Waiting for results (61/178 tasks), next timeout=977.765s
2017-10-13 12:04:23,857 openrave [VERBOSE] [environment-core.h:226 Destroy] Environment destructor
2017-10-13 12:04:23,857 openrave [DEBUG] [environment-core.h:231 Destroy] destroy module
2017-10-13 12:04:23,857 openrave [VERBOSE] [fclcollision.h:336 FCLCollisionChecker::DestroyEnvironment] FCL User data destroying fclcollision0x555cd5cb6c40 in env 1
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:179 FCLSpace::DestroyEnvironment] destroying fcl collision environment (env 1) (userdatakey fclcollision0x555cd5cb6c40)
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:segway col=0x555cd6ed1d50
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam0 col=0x555cd6836e40
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam1 col=0x555cd704a080
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam2 col=0x555cd6ede680
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam3 col=0x555cd6edec80
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam4 col=0x555cd6ee3830
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam5 col=0x555cd6ee3cf0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam6 col=0x555cd6f3df90
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:wam7 col=0x555cd6f333c0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:handbase col=0x555cd6f3e350
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger0-0 col=0x555cd6f6c330
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger0-1 col=0x555cd6f3e950
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger0-2 col=0x555cd6cb79e0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger1-0 col=0x555cd6cb2e50
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger1-1 col=0x555cd6cb80a0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger1-2 col=0x555cd6cb86a0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger2-1 col=0x555cd6eb26d0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link BarrettWAM:Finger2-2 col=0x555cd6eb2d00
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link floorwalls: col=0x555cd6c93420
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link mug4:mugbase col=0x555cd79803e0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link mug3:mugbase col=0x555cd7298b10
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link pole2: col=0x555cd6f6b3c0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link pole3: col=0x555cd7350c00
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link pole: col=0x555cd6f68f30
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link mug2:mugbase col=0x555cd7517270
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link wall1: col=0x555cd7353f40
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link mug1:mugbase col=0x555cd729c700
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link segway: col=0x555cd7299390
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link mug5:mugbase col=0x555cd797abe0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link dishwasher_table:table col=0x555cd7867c70
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link dishwasher_table:dishrack col=0x555cd78699c0
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link mug6:mugbase col=0x555cd7503120
2017-10-13 12:04:23,858 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link table:base col=0x555cd80b5d60
2017-10-13 12:04:23,858 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: floorwalls
2017-10-13 12:04:23,858 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: pole
2017-10-13 12:04:23,858 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: pole2
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: pole3
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: wall1
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: segway
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: mug1
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: mug2
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: mug3
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: mug4
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: mug5
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: mug6
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: dishwasher_table
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: table
2017-10-13 12:04:23,859 openrave [VERBOSE] [fclcollision.h:141 FCLCollisionChecker::~FCLCollisionChecker] FCLCollisionChecker fclcollision0x555cd5cb6c40 destroyed in env 1
2017-10-13 12:04:23,859 openrave [VERBOSE] [fclcollision.h:336 FCLCollisionChecker::DestroyEnvironment] FCL User data destroying fclcollision0x555cd5cb6c40 in env 1
2017-10-13 12:04:23,859 openrave [VERBOSE] [fclspace.h:179 FCLSpace::DestroyEnvironment] destroying fcl collision environment (env 1) (userdatakey fclcollision0x555cd5cb6c40)
2017-10-13 12:04:23,859 openrave [VERBOSE] [fclspace.h:179 FCLSpace::DestroyEnvironment] destroying fcl collision environment (env 1) (userdatakey fclcollision0x555cd5cb6c40)
2017-10-13 12:04:23,859 openrave [VERBOSE] [environment-core.h:294 Destroy] Environment destroyed
2017-10-13 12:04:23,859 openrave [DEBUG] [robot.cpp:354 RobotBase::SetController] default robot doesn't not support setting controllers (try GenericRobot)
2017-10-13 12:04:23,859 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: BarrettWAM
2017-10-13 12:04:23,859 openrave [VERBOSE] [environment-core.h:219 Destroy] environment is already destroyed
2017-10-13 12:04:23,859 openrave [DEBUG] [plugindatabase.h:504 RaveDatabase::Destroy] plugin database shutting down...
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbasecontrollers.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbaserobots.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbasesamplers.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbasesensors.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libconfigurationcache.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libdualmanipulation.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libgrasper.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libikfastsolvers.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/liblogging.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libpqprave.so
noseplugins.multiprocess 2017-10-13 12:04:23,860: DEBUG Worker 5 executing, pid=7312
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/librmanipulation.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/librplanners.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libtextserver.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libqtcoinrave.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/liboderave.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libfclrave.so
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:526 RaveDatabase::Destroy] openrave plugin database destroyed
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:504 RaveDatabase::Destroy] plugin database shutting down...
2017-10-13 12:04:23,860 openrave [DEBUG] [plugindatabase.h:526 RaveDatabase::Destroy] openrave plugin database destroyed
noseplugins.multiprocess 2017-10-13 12:04:23,861: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_bodyvelocities (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:23,861: DEBUG suite 139783299451344 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e361e0>
2017-10-13 12:04:23,861 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:23,862: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:23,863: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_returnactions(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:23,863: DEBUG batch result is ('test_iksolver.TestIkSolver.test_returnactions ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e34b90>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py", line 163, in test_returnactions\n    assert(ikreturn.GetAction()==expectedaction)\nAssertionError: \n    assert(None is None)\n    387 = int(IkReturnAction.QuitEndEffectorCollision)|int(IkReturnAction.RejectJointLimits)\n    <openravepy._openravepy_.openravepy_int.IkReturn object at 0x7f21d5e4c578> = <openravepy._openravepy_.databases.inversekinematics.InverseKinematicsModel object at 0x7f21d5ea1e10>.manip.FindIKSolution(IkParameterization(\'1728053249 0.2815395311427009 1.387778780781446e-16 0.9595496299847904 1.665334536937735e-16 0.1388233933677881 0.1400000000000002 0.63974869166396 \'),IkFilterOptions.CheckEnvCollisions,<openravepy._openravepy_.openravepy_int.IkReturn object at 0x7f21d5e4c578>=True)\n>>  assert(<openravepy._openravepy_.openravepy_int.IkReturn object at 0x7f21d5e4c578>.GetAction()==387)\n    \n')], [], {})
test_iksolver.TestIkSolver.test_returnactions ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:23,863: DEBUG Ran 1 tests (total: 46)
noseplugins.multiprocess 2017-10-13 12:04:23,863: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:23,871: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:23,880: DEBUG Waiting for results (62/178 tasks), next timeout=977.736s
noseplugins.multiprocess 2017-10-13 12:04:23,889: DEBUG Worker 3 executing, pid=7321
noseplugins.multiprocess 2017-10-13 12:04:23,891: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_closedlinkage (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:23,891: DEBUG suite 139783299451344 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e361e0>
2017-10-13 12:04:23,892 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:23,894 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:23,894: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
openravepytest.TestKinematics.test_bodyvelocities (pid=7312): check physics/dynamics properties
openravepytest.TestKinematics.LoadEnv (pid=7312): ('robots/barrettwam.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,899 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb7ea0)
2017-10-13 12:04:23,924 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:23,925: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
openravepytest.TestKinematics.test_closedlinkage (pid=7321): check a very complex closed linkage model
openravepytest.TestKinematics.LoadEnv (pid=7321): ('testdata/bobcat.robot.xml',), {}
2017-10-13 12:04:23,926 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "testdata/bobcat.robot.xml"
2017-10-13 12:04:23,926 openrave [WARN] [environment-core.h:492 Load] load failed on file testdata/bobcat.robot.xml
noseplugins.multiprocess 2017-10-13 12:04:23,990: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:23,990: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_bodyvelocities(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:23,990: DEBUG batch result is ('test_kinematics.TestKinematics.test_bodyvelocities ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e34d88>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 255, in test_bodyvelocities\n    assert(linalg.norm(angularaccel-deltaangularvel) <= 0.02*(linalg.norm(angularaccel)+linalg.norm(deltaangularvel)))\nAssertionError: \n    array([ 0.00126254, -0.00153343,  0.0011061 ]) = array([[ -1.32818979e-01,   5.70509021e-02,  -1.00998430e-02,\n              0.00000000e+00,   0.00000000e+00,   0.00000000e+00],\n>>         [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,\n              3.17339465e-01,  -1.32112531e-01,   2.59177914e+00],\n           [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,\n              2.57391081e+00,  -2.57025335e-02,   2.79252710e+00],\n           [ -8.83451474e-01,  -1.44394959e+00,   1.78427593e-01,\n              2.80486280e+00,  -4.19148887e-01,   5.01479292e+00],\n           [ -8.18920404e-01,  -1.70455732e+00,   9.98272851e-02,\n              2.46439664e+00,  -8.29523450e-01,   5.43109757e+00],\n           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,\n              5.53247895e+00,   3.44544860e-01,   7.16344996e+00],\n           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,\n              1.22537448e+01,  -6.17458436e+00,   8.53819606e+00],\n           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,\n              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],\n           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,\n              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],\n           [ -4.16827117e+00,  -1.25371772e+00,   3.96012255e-02,\n              1.04516395e+01,  -1.10919637e+01,   1.17966082e+01],\n           [ -4.43069624e+00,  -8.84898379e-01,   7.29647781e-01,\n              1.24420351e+01,  -1.53703067e+01,   1.09659368e+01],\n           [ -5.42632100e+00,  -5.72130411e-01,   1.73205434e+00,\n              1.26254024e+01,  -1.53342855e+01,   1.10610156e+01],\n           [ -4.17774281e+00,  -1.87797474e+00,   1.64333711e-01,\n              1.16918983e+01,  -5.35445394e+00,   6.67293157e+00],\n           [ -4.49512728e+00,  -2.82053061e+00,   1.04096485e+00,\n              6.45978357e+00,   6.86481701e-01,   5.68737509e+00],\n           [ -4.54333589e+00,  -1.98147060e+00,   3.19045562e-01,\n              4.71574534e+00,   2.70012691e+00,   5.35885626e+00],\n           [ -3.60681654e+00,  -1.24481702e+00,  -7.09666129e-01,\n              1.24855224e+01,  -1.27170836e+01,   6.04327531e+00],\n           [ -3.19158333e+00,  -3.56403785e-01,  -2.31072380e+00,\n              1.21451825e+01,  -1.34435274e+01,   6.29580926e+00]])[11][3:6]*0.0001\n    array([ 0.00131093, -0.00167954,  0.00106881]) = array([[ 0.08052363,  0.26716059,  0.44996602, -0.13703609, -0.32916605,\n            -0.05725103],\n           [-0.02535423,  0.30198119,  0.50319354, -0.13700437, -0.32917926,\n            -1.02106291],\n           [-0.02535423,  0.30198119,  0.50319354,  0.61820801,  0.01941135,\n            -1.02104283],\n           [ 0.10536084,  0.06136399,  0.57035144,  0.43103587,  0.42481669,\n             0.68309636],\n           [ 0.13066447,  0.03529583,  0.60708611,  0.25320607,  0.99104163,\n             0.52886283],\n           [ 0.32078173,  0.03938991,  0.50839086,  1.40842347,  1.97107347,\n             2.79481885],\n           [ 0.32078173,  0.03938991,  0.50839086, -0.56707306,  1.56774268,\n             3.97639738],\n           [ 0.41205213,  0.19240588,  0.46107851, -0.98391829,  1.60480291,\n             3.29211888],\n           [ 0.41205213,  0.19240588,  0.46107851, -0.98391829,  1.60480291,\n             3.29211888],\n           [ 0.57380159,  0.47394351,  0.37218009, -1.54938814,  1.65507683,\n             2.36386342],\n           [ 0.49022811,  0.53224729,  0.27658024, -1.45614636,  1.37128817,\n             2.29169301],\n           [ 0.47175607,  0.70635703,  0.16066044, -1.42506577,  1.27669194,\n             2.2676362 ],\n           [ 0.52867737,  0.37756697,  0.40567427, -0.41844843,  1.55452899,\n             4.22037434],\n           [ 0.32757159,  0.36241432,  0.39131603,  1.2031059 ,  1.79081336,\n             3.24536133],\n           [ 0.56291489,  0.41393941,  0.2756387 ,  1.74362402,  1.86957482,\n             2.92035699],\n           [ 0.7115906 ,  0.36276896,  0.46755526, -1.80469189,  2.17356612,\n             3.82291747],\n           [ 1.00418585,  0.33503685,  0.62144867, -2.0782831 ,  2.36315386,\n             3.99985034]])[11][3:6]-array([[ 0.08053692,  0.26715489,  0.44996703, -0.13703609, -0.32916605,\n            -0.05725103],\n           [-0.02533939,  0.30197415,  0.50319851, -0.13703609, -0.32916605,\n            -1.02132209],\n           [-0.02533939,  0.30197415,  0.50319851,  0.61795063,  0.01941392,\n            -1.02132209],\n           [ 0.1054492 ,  0.06150837,  0.57033361,  0.4307554 ,  0.42485865,\n             0.68259487],\n           [ 0.13074637,  0.03546627,  0.60707614,  0.25295966,  0.99112463,\n             0.5283197 ],\n           [ 0.32095291,  0.03954021,  0.5083625 ,  1.40787026,  1.97103906,\n             2.79410249],\n           [ 0.32095291,  0.03954021,  0.5083625 , -0.56829848,  1.56836014,\n             3.97554369],\n           [ 0.4123208 ,  0.19255867,  0.46105731, -0.98492181,  1.605616  ,\n             3.29136588],\n           [ 0.4123208 ,  0.19255867,  0.46105731, -0.98492181,  1.605616  ,\n             3.29136588],\n           [ 0.57421847,  0.47406889,  0.37217605, -1.55043354,  1.65618597,\n             2.3626839 ],\n           [ 0.49067123,  0.53233578,  0.2765072 , -1.45739091,  1.37282511,\n             2.29059652],\n           [ 0.47229875,  0.70641424,  0.16048713, -1.4263767 ,  1.27837148,\n             2.26656739],\n           [ 0.52909518,  0.37775477,  0.40565776, -0.41941007,  1.55504603,\n             4.22004787],\n           [ 0.32800413,  0.36269391,  0.39122208,  1.20266757,  1.7907264 ,\n             3.2451333 ],\n           [ 0.56336969,  0.41413761,  0.27560646,  1.74336012,  1.86928653,\n             2.92016178],\n           [ 0.71195135,  0.36289343,  0.46762615, -1.80594057,  2.17483785,\n             3.82231327],\n           [ 1.00450513,  0.3350725 ,  0.62167966, -2.07961349,  2.36457847,\n             3.99929574]])[11][3:6]\n    assert(<module \'numpy.linalg\' from \'/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc\'>.norm(array([ 0.00126254, -0.00153343,  0.0011061 ])-array([ 0.00131093, -0.00167954,  0.00106881])) <= 0.02*(<module \'numpy.linalg\' from \'/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc\'>.norm(array([ 0.00126254, -0.00153343,  0.0011061 ]))+<module \'numpy.linalg\' from \'/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc\'>.norm(array([ 0.00131093, -0.00167954,  0.00106881]))))\n    assert(dot(array([ 0.00131093, -0.00167954,  0.00106881]),array([ 0.00126254, -0.00153343,  0.0011061 ])) >= 0.9*<module \'numpy.linalg\' from \'/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc\'>.norm(array([ 0.00131093, -0.00167954,  0.00106881]))*<module \'numpy.linalg\' from \'/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc\'>.norm(array([ 0.00126254, -0.00153343,  0.0011061 ])))\n    array([ -4.43069624e-04,  -8.84898379e-05,   7.29647781e-05]) = 0.0001*array([[ -1.32818979e-01,   5.70509021e-02,  -1.00998430e-02,\n              0.00000000e+00,   0.00000000e+00,   0.00000000e+00],\n           [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,\n              3.17339465e-01,  -1.32112531e-01,   2.59177914e+00],\n           [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,\n              2.57391081e+00,  -2.57025335e-02,   2.79252710e+00],\n           [ -8.83451474e-01,  -1.44394959e+00,   1.78427593e-01,\n              2.80486280e+00,  -4.19148887e-01,   5.01479292e+00],\n           [ -8.18920404e-01,  -1.70455732e+00,   9.98272851e-02,\n              2.46439664e+00,  -8.29523450e-01,   5.43109757e+00],\n           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,\n              5.53247895e+00,   3.44544860e-01,   7.16344996e+00],\n           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,\n              1.22537448e+01,  -6.17458436e+00,   8.53819606e+00],\n           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,\n              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],\n           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,\n              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],\n           [ -4.16827117e+00,  -1.25371772e+00,   3.96012255e-02,\n              1.04516395e+01,  -1.10919637e+01,   1.17966082e+01],\n           [ -4.43069624e+00,  -8.84898379e-01,   7.29647781e-01,\n              1.24420351e+01,  -1.53703067e+01,   1.09659368e+01],\n           [ -5.42632100e+00,  -5.72130411e-01,   1.73205434e+00,\n              1.26254024e+01,  -1.53342855e+01,   1.10610156e+01],\n           [ -4.17774281e+00,  -1.87797474e+00,   1.64333711e-01,\n              1.16918983e+01,  -5.35445394e+00,   6.67293157e+00],\n           [ -4.49512728e+00,  -2.82053061e+00,   1.04096485e+00,\n              6.45978357e+00,   6.86481701e-01,   5.68737509e+00],\n           [ -4.54333589e+00,  -1.98147060e+00,   3.19045562e-01,\n              4.71574534e+00,   2.70012691e+00,   5.35885626e+00],\n           [ -3.60681654e+00,  -1.24481702e+00,  -7.09666129e-01,\n              1.24855224e+01,  -1.27170836e+01,   6.04327531e+00],\n           [ -3.19158333e+00,  -3.56403785e-01,  -2.31072380e+00,\n              1.21451825e+01,  -1.34435274e+01,   6.29580926e+00]])[11][0:3]\n    \n')], [], {})
test_kinematics.TestKinematics.test_bodyvelocities ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:23,991: DEBUG Ran 1 tests (total: 47)
noseplugins.multiprocess 2017-10-13 12:04:23,991: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:23,995: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:23,999: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:24,004: DEBUG Waiting for results (63/178 tasks), next timeout=977.611s
noseplugins.multiprocess 2017-10-13 12:04:24,005: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_closedlinkage(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:24,005: DEBUG batch result is ('test_kinematics.TestKinematics.test_closedlinkage ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e34ea8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 1003, in test_closedlinkage\n    self.LoadEnv(\'testdata/bobcat.robot.xml\')\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 140, in LoadEnv\n    assert(self.env.Load(*args,**kwargs))\nAssertionError: \n    <test_kinematics.TestKinematics object at 0x7f21d5ea1a90>.<logging.Logger object at 0x7f21fecbff10>.info(\'%r, %r\',(\'testdata/bobcat.robot.xml\',),{})\n>>  assert(<test_kinematics.TestKinematics object at 0x7f21d5ea1a90>.env.Load(*(\'testdata/bobcat.robot.xml\',),**{}))\n    <test_kinematics.TestKinematics object at 0x7f21d5ea1a90>._PreprocessEnv()\n    \n')], [], {})
test_kinematics.TestKinematics.test_closedlinkage ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:24,005: DEBUG Ran 1 tests (total: 48)
noseplugins.multiprocess 2017-10-13 12:04:24,005: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:24,005: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:24,013: DEBUG Worker 5 executing, pid=7337
noseplugins.multiprocess 2017-10-13 12:04:24,014: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_custombody (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:24,014: DEBUG suite 139783299451344 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e361e0>
noseplugins.multiprocess 2017-10-13 12:04:24,014: DEBUG Waiting for results (64/178 tasks), next timeout=977.601s
2017-10-13 12:04:24,015 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:24,024: DEBUG Worker 3 executing, pid=7340
noseplugins.multiprocess 2017-10-13 12:04:24,025: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_dh (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:24,025: DEBUG suite 139783299535952 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e361e0>
2017-10-13 12:04:24,026 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:24,048 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:24,049: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
noseplugins.multiprocess 2017-10-13 12:04:24,052: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:24,053: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_custombody(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:24,053: DEBUG batch result is ('test_kinematics.TestKinematics.test_custombody ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_custombody ... ok
noseplugins.multiprocess 2017-10-13 12:04:24,053: DEBUG Ran 1 tests (total: 49)
noseplugins.multiprocess 2017-10-13 12:04:24,053: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:24,058: DEBUG starting new process on worker 5
2017-10-13 12:04:24,058 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:24,059: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e36280>
openravepytest.TestKinematics.LoadRobot (pid=7340): ('robots/barrettwam.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:24,067: DEBUG Waiting for results (65/178 tasks), next timeout=977.549s
noseplugins.multiprocess 2017-10-13 12:04:24,078: DEBUG Worker 5 executing, pid=7352
noseplugins.multiprocess 2017-10-13 12:04:24,080: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_enablelinks (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:24,080: DEBUG suite 139783299535184 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e381e0>
2017-10-13 12:04:24,081 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:24,123 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:24,123: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e38280>
openravepytest.TestKinematics.LoadEnv (pid=7352): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:25,047: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:25,047: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_dh(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:25,047: DEBUG batch result is ('test_kinematics.TestKinematics.test_dh ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_dh ... ok
noseplugins.multiprocess 2017-10-13 12:04:25,047: DEBUG Ran 1 tests (total: 50)
noseplugins.multiprocess 2017-10-13 12:04:25,047: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:25,055: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:25,063: DEBUG Waiting for results (66/178 tasks), next timeout=976.552s
noseplugins.multiprocess 2017-10-13 12:04:25,073: DEBUG Worker 3 executing, pid=7364
noseplugins.multiprocess 2017-10-13 12:04:25,074: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_geometrychange (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:25,074: DEBUG suite 139783299535184 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e381e0>
2017-10-13 12:04:25,075 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:143: RuntimeWarning: invalid value encountered in arccos
  if 2*arccos(abs(dot(expectedworldquat,expectedworldquat))) > 0.1*angthresh:
2017-10-13 12:04:25,110 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:25,110: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e38280>
openravepytest.TestKinematics.test_geometrychange (pid=7364): change geometry and test if changes are updated
openravepytest.TestKinematics.LoadEnv (pid=7364): ('data/lab1.env.xml',), {}
openravepytest.TestEnvironment.mythread (pid=7052): t3: 2
noseplugins.multiprocess 2017-10-13 12:04:25,578: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:25,579: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_enablelinks(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:25,579: DEBUG batch result is ('test_kinematics.TestKinematics.test_enablelinks ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_enablelinks ... ok
noseplugins.multiprocess 2017-10-13 12:04:25,579: DEBUG Ran 1 tests (total: 51)
noseplugins.multiprocess 2017-10-13 12:04:25,579: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:25,586: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:25,595: DEBUG Waiting for results (67/178 tasks), next timeout=976.020s
noseplugins.multiprocess 2017-10-13 12:04:25,605: DEBUG Worker 5 executing, pid=7374
noseplugins.multiprocess 2017-10-13 12:04:25,606: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_hashes (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:25,606: DEBUG suite 139783299535952 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e391e0>
2017-10-13 12:04:25,607 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:25,640 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:25,640: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39280>
openravepytest.TestKinematics.LoadRobot (pid=7374): ('robots/pr2-beta-static.zae',), {}
noseplugins.multiprocess 2017-10-13 12:04:26,763: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:26,763: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py:TestEnvironment.test_multithread(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:26,763: DEBUG batch result is ('test_environment.TestEnvironment.test_multithread ... ok\n', 1, [], [], {})
test_environment.TestEnvironment.test_multithread ... ok
noseplugins.multiprocess 2017-10-13 12:04:26,764: DEBUG Ran 1 tests (total: 52)
noseplugins.multiprocess 2017-10-13 12:04:26,764: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:26,805: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:26,818: DEBUG Waiting for results (68/178 tasks), next timeout=974.797s
noseplugins.multiprocess 2017-10-13 12:04:26,830: DEBUG Worker 2 executing, pid=7384
noseplugins.multiprocess 2017-10-13 12:04:26,832: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_hessian (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:26,832: DEBUG suite 139783299535184 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e391e0>
2017-10-13 12:04:26,834 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:26,893 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:26,893: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39280>
openravepytest.TestKinematics.test_hessian (pid=7384): check the jacobian and hessian computation
openravepytest.TestKinematics.LoadEnv (pid=7384): ('robots/barrettwam.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,897 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
2017-10-13 12:04:26,898 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbb6c0)
openravepy.ikfast.solveFullIK_6D (pid=7231): ikfast 6d: [j0, j1, j3, j4, j5, j6]
noseplugins.multiprocess 2017-10-13 12:04:27,254: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:27,254: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_geometrychange(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:27,254: DEBUG batch result is ('test_kinematics.TestKinematics.test_geometrychange ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_geometrychange ... ok
noseplugins.multiprocess 2017-10-13 12:04:27,255: DEBUG Ran 1 tests (total: 53)
noseplugins.multiprocess 2017-10-13 12:04:27,255: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:27,263: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:27,274: DEBUG Waiting for results (69/178 tasks), next timeout=974.342s
noseplugins.multiprocess 2017-10-13 12:04:27,293: DEBUG Worker 3 executing, pid=7394
noseplugins.multiprocess 2017-10-13 12:04:27,294: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_hierarchy (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:27,295: DEBUG suite 139783299537104 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e391e0>
2017-10-13 12:04:27,296 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:27,326 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:27,326 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:27,326 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:27,326 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:27,326 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:27,331 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
openravepy.ikfast.iterateThreeIntersectingAxes (pid=7231): found 3 consecutive intersecting axes links[8:13], rotvars=[j4, j5, j6], translationvars=[j0, j1, j3]
2017-10-13 12:04:27,375 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:27,375: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39280>
openravepytest.TestKinematics.test_hierarchy (pid=7394): tests the kinematics hierarchy
openravepytest.TestKinematics.LoadRobot (pid=7394): ('robots/puma.robot.xml',), {}
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,378 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,379 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,398 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,399 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,422 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,422 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,422 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,422 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,431 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,431 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,435 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,454 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,454 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,485 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,485 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,485 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,485 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,485 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,486 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,486 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,486 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,486 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
openravepytest.TestKinematics.LoadEnv (pid=7394): ('robots/pr2-beta-static.zae', {'skipgeometry': '1'}), {}
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,531 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,550 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,571 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,571 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,571 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,571 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,579 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,579 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,582 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,600 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,600 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
2017-10-13 12:04:27,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cba560)
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('test.zae',), {}
noseplugins.multiprocess 2017-10-13 12:04:27,973: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:27,974: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_hashes(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:27,974: DEBUG batch result is ('test_kinematics.TestKinematics.test_hashes ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_hashes ... ok
noseplugins.multiprocess 2017-10-13 12:04:27,974: DEBUG Ran 1 tests (total: 54)
noseplugins.multiprocess 2017-10-13 12:04:27,974: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:27,984: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:27,993: DEBUG Waiting for results (70/178 tasks), next timeout=973.622s
noseplugins.multiprocess 2017-10-13 12:04:28,004: DEBUG Worker 5 executing, pid=7404
noseplugins.multiprocess 2017-10-13 12:04:28,006: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_inertia (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:28,006: DEBUG suite 139783299537104 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e391e0>
2017-10-13 12:04:28,007 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:28,044 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:28,045: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39280>
noseplugins.multiprocess 2017-10-13 12:04:28,049: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:28,049: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_inertia(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:28,050: DEBUG batch result is ('test_kinematics.TestKinematics.test_inertia ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_inertia ... ok
noseplugins.multiprocess 2017-10-13 12:04:28,050: DEBUG Ran 1 tests (total: 55)
noseplugins.multiprocess 2017-10-13 12:04:28,050: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:28,055: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:28,064: DEBUG Waiting for results (71/178 tasks), next timeout=973.552s
noseplugins.multiprocess 2017-10-13 12:04:28,074: DEBUG Worker 5 executing, pid=7414
noseplugins.multiprocess 2017-10-13 12:04:28,075: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_initkinbody (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:28,075: DEBUG suite 139783299537104 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e391e0>
2017-10-13 12:04:28,076 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:28,109 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:28,110: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39280>
openravepytest.TestKinematics.test_initkinbody (pid=7414): tests initializing a kinematics body
noseplugins.multiprocess 2017-10-13 12:04:28,113: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:28,114: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_initkinbody(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:28,114: DEBUG batch result is ('test_kinematics.TestKinematics.test_initkinbody ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_initkinbody ... ok
noseplugins.multiprocess 2017-10-13 12:04:28,114: DEBUG Ran 1 tests (total: 56)
noseplugins.multiprocess 2017-10-13 12:04:28,114: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:28,119: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:28,128: DEBUG Waiting for results (72/178 tasks), next timeout=973.488s
noseplugins.multiprocess 2017-10-13 12:04:28,138: DEBUG Worker 5 executing, pid=7424
noseplugins.multiprocess 2017-10-13 12:04:28,139: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_inversedynamics (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:28,139: DEBUG suite 139783299536848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e391e0>
2017-10-13 12:04:28,140 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:28,173 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:28,174: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39280>
openravepytest.TestKinematics.test_inversedynamics (pid=7424): verify inverse dynamics computations
openravepytest.TestKinematics.LoadEnv (pid=7424): ('robots/wam7.kinbody.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:29,200: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:29,201: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_hessian(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:29,201: DEBUG batch result is ('test_kinematics.TestKinematics.test_hessian ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_hessian ... ok
noseplugins.multiprocess 2017-10-13 12:04:29,201: DEBUG Ran 1 tests (total: 57)
noseplugins.multiprocess 2017-10-13 12:04:29,201: DEBUG joining worker 2
openravepytest.TestKinematics.LoadEnv (pid=7424): ('robots/barretthand.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:29,207: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:29,216: DEBUG Waiting for results (73/178 tasks), next timeout=972.399s
noseplugins.multiprocess 2017-10-13 12:04:29,226: DEBUG Worker 2 executing, pid=7434
noseplugins.multiprocess 2017-10-13 12:04:29,227: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_inversedynamics2d (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:29,227: DEBUG suite 139783299536848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a050>
2017-10-13 12:04:29,228 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:29,262 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:29,262: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a280>
openravepytest.TestKinematics.test_inversedynamics2d (pid=7434): test dynamics of a simple 2d robot
noseplugins.multiprocess 2017-10-13 12:04:29,266: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:29,266: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_inversedynamics2d(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:29,266: DEBUG batch result is ('test_kinematics.TestKinematics.test_inversedynamics2d ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_inversedynamics2d ... ok
noseplugins.multiprocess 2017-10-13 12:04:29,266: DEBUG Ran 1 tests (total: 58)
noseplugins.multiprocess 2017-10-13 12:04:29,267: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:29,272: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:29,280: DEBUG Waiting for results (74/178 tasks), next timeout=972.335s
noseplugins.multiprocess 2017-10-13 12:04:29,290: DEBUG Worker 2 executing, pid=7444
noseplugins.multiprocess 2017-10-13 12:04:29,291: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_jointlmits (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:29,291: DEBUG suite 139783299536848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e391e0>
2017-10-13 12:04:29,292 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:29,328 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:29,328: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e39280>
openravepytest.TestKinematics.LoadRobot (pid=7444): ('robots/barrettwam.robot.xml',), {}
2017-10-13 12:04:29,443 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:29,443 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:29,443 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:29,443 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:29,443 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,444 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,445 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,447 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:29,448 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
openravepytest.TestKinematics.LoadEnv (pid=7302): ('data/pr2wam_test1.env.xml', {'skipgeometry': '1'}), {}
noseplugins.multiprocess 2017-10-13 12:04:29,826: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:29,826: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_inversedynamics(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:29,827: DEBUG batch result is ('test_kinematics.TestKinematics.test_inversedynamics ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e37998>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 440, in test_inversedynamics\n    assert(transdist(M,transpose(M)) <= 1e-14*M.shape[0]**2)\nAssertionError: \n    array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,\n>>            9.26447648e-07],\n           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,\n             -6.64269884e-07],\n           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,\n              0.00000000e+00],\n           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,\n              1.53484605e-03]]) = array(array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,\n              9.26447648e-07],\n           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,\n             -6.64269884e-07],\n           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,\n              0.00000000e+00],\n           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,\n              1.53484605e-03]]))\n    assert(transdist(array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,\n              9.26447648e-07],\n           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,\n             -6.64269884e-07],\n           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,\n              0.00000000e+00],\n           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,\n              1.53484605e-03]]),transpose(array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,\n              9.26447648e-07],\n           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,\n             -6.64269884e-07],\n           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,\n              0.00000000e+00],\n           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,\n              1.53484605e-03]]))) <= 1e-14*array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,\n              9.26447648e-07],\n           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,\n             -6.64269884e-07],\n           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,\n              0.00000000e+00],\n           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,\n              1.53484605e-03]]).shape[0]**2)\n    \n')], [], {})
test_kinematics.TestKinematics.test_inversedynamics ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:29,827: DEBUG Ran 1 tests (total: 59)
noseplugins.multiprocess 2017-10-13 12:04:29,827: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:29,838: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:29,846: DEBUG Waiting for results (75/178 tasks), next timeout=971.769s
noseplugins.multiprocess 2017-10-13 12:04:29,859: DEBUG Worker 5 executing, pid=7454
noseplugins.multiprocess 2017-10-13 12:04:29,860: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_jointoffset (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:29,860: DEBUG suite 139783299536848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a1e0>
2017-10-13 12:04:29,861 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:29,902 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:29,902: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a280>
openravepytest.TestKinematics.LoadEnv (pid=7454): ('robots/pr2-beta-static.zae', {'skipgeometry': '1'}), {}
noseplugins.multiprocess 2017-10-13 12:04:30,302: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:30,302: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_jointlmits(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:30,315: DEBUG batch result is ('test_kinematics.TestKinematics.test_jointlmits ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_jointlmits ... ok
noseplugins.multiprocess 2017-10-13 12:04:30,315: DEBUG Ran 1 tests (total: 60)
noseplugins.multiprocess 2017-10-13 12:04:30,316: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:30,328: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:30,394: DEBUG Waiting for results (76/178 tasks), next timeout=971.222s
noseplugins.multiprocess 2017-10-13 12:04:30,411: DEBUG Worker 2 executing, pid=7464
noseplugins.multiprocess 2017-10-13 12:04:30,413: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_joints (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:30,413: DEBUG suite 139783299536848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a1e0>
2017-10-13 12:04:30,414 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
openravepy.ikfast.SolveAllEquations (pid=7231): depth=0 c=1, [j2] [j0, j1, j3]: cases=None
2017-10-13 12:04:30,467 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:30,467: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a280>
noseplugins.multiprocess 2017-10-13 12:04:30,470: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:30,471: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_joints(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:30,471: DEBUG batch result is ('test_kinematics.TestKinematics.test_joints ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_joints ... ok
noseplugins.multiprocess 2017-10-13 12:04:30,471: DEBUG Ran 1 tests (total: 61)
noseplugins.multiprocess 2017-10-13 12:04:30,471: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:30,476: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:30,486: DEBUG Waiting for results (77/178 tasks), next timeout=971.130s
noseplugins.multiprocess 2017-10-13 12:04:30,495: DEBUG Worker 2 executing, pid=7474
noseplugins.multiprocess 2017-10-13 12:04:30,497: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_mimicjoints (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:30,497: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a1e0>
2017-10-13 12:04:30,498 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:30,532 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:30,532: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3a280>
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
2017-10-13 12:04:30,534 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link a/L3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8c30)
noseplugins.multiprocess 2017-10-13 12:04:30,536: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:30,536: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_mimicjoints(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:30,536: DEBUG batch result is ('test_kinematics.TestKinematics.test_mimicjoints ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_mimicjoints ... ok
noseplugins.multiprocess 2017-10-13 12:04:30,536: DEBUG Ran 1 tests (total: 62)
noseplugins.multiprocess 2017-10-13 12:04:30,536: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:30,541: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:30,550: DEBUG Waiting for results (78/178 tasks), next timeout=971.065s
noseplugins.multiprocess 2017-10-13 12:04:30,560: DEBUG Worker 2 executing, pid=7484
noseplugins.multiprocess 2017-10-13 12:04:30,561: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_misc_pr2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:30,561: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b1e0>
2017-10-13 12:04:30,562 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
openravepytest.TestCOLLADA.LoadRobot (pid=6799): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:04:30,596 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:30,597: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b280>
openravepy.ikfast.SolveAllEquations (pid=7231): depth=0 c=3, [j2, j3] [j0, j1]: cases=None
openravepy.ikfast.checkForDivideByZero (pid=7231): adding atan2(-py, px) = Abs(px) + Abs(py) all zeros check
openravepy.ikfast.checkForDivideByZero (pid=7231): adding atan2(-py, px) = Abs(px) + Abs(py) all zeros check
2017-10-13 12:04:31,109 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,109 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,109 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,109 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,109 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,113 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,161 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,181 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,181 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,205 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,205 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,205 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,205 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,214 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,214 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,217 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
openravepytest.TestKinematics.LoadEnv (pid=7394): ('robots/barrettsegway.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:31,221 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/segway with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,221 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,221 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,221 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/segway with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,222 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,223 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,237 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,237 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,261 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,261 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,261 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,261 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
openravepytest.TestKinematics.LoadEnv (pid=7394): ('robots/neuronics-katana.zae', {'skipgeometry': '1'}), {}
2017-10-13 12:04:31,270 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,270 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,270 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,270 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,271 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,271 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,271 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,271 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,271 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,317 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,318 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,337 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,337 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,360 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,360 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,360 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,360 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,369 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,369 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,372 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,391 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,391 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,414 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,414 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,414 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,414 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
2017-10-13 12:04:31,423 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb6930)
openravepy.ikfast.checkForDivideByZero (pid=7231): adding atan2(-3*cj3/10 - 9*sj3/200 - 11/20, 3*cj2*(-3*cj3 + 20*sj3 + 3)/200) = 3*Abs(cj2*(-3*cj3 + 20*sj3 + 3))/200 + Abs(3*cj3/10 + 9*sj3/200 + 11/20) all zeros check
2017-10-13 12:04:31,558 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,558 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,558 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,558 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,558 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,559 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,560 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,561 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,562 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,563 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,563 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,563 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,563 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,563 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,565 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,565 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,565 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,565 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,565 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,581 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,581 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,581 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,581 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,581 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,597 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,597 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,597 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,597 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,597 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,613 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,613 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,613 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,613 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,613 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,629 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,629 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,629 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,629 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,629 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,645 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,645 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,645 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,645 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,645 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepy.ikfast.checkForDivideByZero (pid=7231): adding atan2(-3*cj3/10 - 9*sj3/200 - 11/20, 3*cj2*(-3*cj3 + 20*sj3 + 3)/200) = 3*Abs(cj2*(-3*cj3 + 20*sj3 + 3))/200 + Abs(3*cj3/10 + 9*sj3/200 + 11/20) all zeros check
2017-10-13 12:04:31,661 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,661 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,661 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,661 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,661 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,676 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,676 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,676 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,676 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,676 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,692 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,692 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,692 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,692 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,692 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,708 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:31,708 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,708 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:31,708 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:31,708 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepytest.TestKinematics.LoadEnv (pid=7454): ('robots/barrettsegway.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/segway with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/segway with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:31,726 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link BarrettWAM/Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
openravepytest.TestKinematics.LoadEnv (pid=7454): ('robots/neuronics-katana.zae', {'skipgeometry': '1'}), {}
2017-10-13 12:04:31,950 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:31,951 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
openravepytest.TestKinematics.LoadEnv (pid=7394): ('robots/pa10schunk.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:32,247 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:32,247 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,247 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,247 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,247 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,249 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,253 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:32,253 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,253 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,253 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,253 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/staticbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/gripper_base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/L_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/R_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/staticbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/gripper_base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/L_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,290 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/R_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,293 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
openravepytest.TestKinematics.LoadEnv (pid=7394): ('robots/barrettwam-dual.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:32,312 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,312 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,313 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/chest with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/chest with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,314 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,315 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cbac80)
2017-10-13 12:04:32,333 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,333 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,333 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,333 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,341 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,341 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,344 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,363 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,363 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,384 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,384 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,384 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,384 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,392 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,392 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/L5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Right with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,415 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link Katana6M180/Gripper_Left with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
openravepytest.TestKinematics.LoadEnv (pid=7454): ('robots/pa10schunk.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,437 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,477 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,485 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,485 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,488 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,504 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:32,504 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,504 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,504 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,504 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,507 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,507 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,509 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,530 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,530 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,530 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,530 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:32,539 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:32,541: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:32,541: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_hierarchy(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:32,541: DEBUG batch result is ('test_kinematics.TestKinematics.test_hierarchy ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_hierarchy ... ok
noseplugins.multiprocess 2017-10-13 12:04:32,541: DEBUG Ran 1 tests (total: 63)
noseplugins.multiprocess 2017-10-13 12:04:32,541: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:32,549: DEBUG starting new process on worker 3
2017-10-13 12:04:32,551 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:32,551 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,551 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,551 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:32,551 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,557 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
noseplugins.multiprocess 2017-10-13 12:04:32,558: DEBUG Waiting for results (79/178 tasks), next timeout=969.057s
noseplugins.multiprocess 2017-10-13 12:04:32,568: DEBUG Worker 3 executing, pid=7496
noseplugins.multiprocess 2017-10-13 12:04:32,569: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_noncollidingpose (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:32,569: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b050>
2017-10-13 12:04:32,570 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:32,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,599 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,599 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,599 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,599 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,604 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:32,605: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b280>
openravepytest.TestKinematics.LoadRobot (pid=7496): ('robots/barrettwam.robot.xml',), {}
2017-10-13 12:04:32,608 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,608 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,611 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,652 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,652 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,652 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,653 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,662 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,706 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,729 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/staticbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/gripper_base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/L_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/R_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/staticbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/link7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/gripper_base with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/L_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,730 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link PA10/R_finger with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
openravepytest.TestKinematics.LoadEnv (pid=7454): ('robots/barrettwam-dual.robot.xml', {'skipgeometry': '1'}), {}
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/chest with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,748 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/chest with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/l_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam3 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam4 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam5 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam6 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_wam7 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_handbase with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger0-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-0 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger1-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-1 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link barrettwam-dual/r_Finger2-2 with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb92f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,750 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,768 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,768 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,789 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,789 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,789 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,789 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
noseplugins.multiprocess 2017-10-13 12:04:32,792: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:32,793: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_jointoffset(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:32,793: DEBUG batch result is ('test_kinematics.TestKinematics.test_jointoffset ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_jointoffset ... ok
noseplugins.multiprocess 2017-10-13 12:04:32,793: DEBUG Ran 1 tests (total: 64)
noseplugins.multiprocess 2017-10-13 12:04:32,793: DEBUG joining worker 5
2017-10-13 12:04:32,798 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,798 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,800 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
noseplugins.multiprocess 2017-10-13 12:04:32,803: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:32,812: DEBUG Waiting for results (80/178 tasks), next timeout=968.804s
2017-10-13 12:04:32,817 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,817 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
noseplugins.multiprocess 2017-10-13 12:04:32,826: DEBUG Worker 5 executing, pid=7506
noseplugins.multiprocess 2017-10-13 12:04:32,828: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_paddinggeometry (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:32,829: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b1e0>
2017-10-13 12:04:32,830 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:32,843 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,843 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,843 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,843 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:32,892 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:32,892: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b280>
openravepytest.TestKinematics.LoadRobot (pid=7506): ('robots/barrettwam.robot.xml',), {}
2017-10-13 12:04:33,387 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:33,387 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:33,387 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:33,387 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:33,387 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:33,562: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:33,563: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_noncollidingpose(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:33,563: DEBUG batch result is ('test_kinematics.TestKinematics.test_noncollidingpose ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_noncollidingpose ... ok
noseplugins.multiprocess 2017-10-13 12:04:33,563: DEBUG Ran 1 tests (total: 65)
noseplugins.multiprocess 2017-10-13 12:04:33,563: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:33,573: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:33,582: DEBUG Waiting for results (81/178 tasks), next timeout=968.034s
noseplugins.multiprocess 2017-10-13 12:04:33,591: DEBUG Worker 3 executing, pid=7516
noseplugins.multiprocess 2017-10-13 12:04:33,593: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_specification (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:33,593: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b1e0>
2017-10-13 12:04:33,594 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:33,627 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:33,627: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3b280>
openravepytest.TestKinematics.LoadEnv (pid=7516): ('data/lab1.env.xml',), {}
openravepytest.TestCOLLADA.LoadEnv (pid=6799): ('test.dae',), {}
openravepy.ikfast.buildRaghavanRothEquations (pid=7197): computed in 9.527386s
2017-10-13 12:04:34,483 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:34,483 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:34,483 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:34,483 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:34,483 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:34,525 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:34,525 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:34,525 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:34,525 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:34,525 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:34,530 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,576 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,600 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,600 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,625 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,625 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,625 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,625 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,634 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,634 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,637 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,656 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,656 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,679 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,679 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,679 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,679 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,688 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,732 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,732 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,732 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,733 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,751 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,752 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,773 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,773 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,773 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,773 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,782 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,782 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,785 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,803 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,803 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
noseplugins.multiprocess 2017-10-13 12:04:34,813: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:34,813: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_paddinggeometry(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:34,813: DEBUG batch result is ('test_kinematics.TestKinematics.test_paddinggeometry ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_paddinggeometry ... ok
noseplugins.multiprocess 2017-10-13 12:04:34,813: DEBUG Ran 1 tests (total: 66)
noseplugins.multiprocess 2017-10-13 12:04:34,814: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:34,821: DEBUG starting new process on worker 5
2017-10-13 12:04:34,828 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,829 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,829 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,829 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
noseplugins.multiprocess 2017-10-13 12:04:34,830: DEBUG Waiting for results (82/178 tasks), next timeout=966.786s
2017-10-13 12:04:34,837 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,837 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,837 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,837 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,837 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,837 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,837 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
2017-10-13 12:04:34,838 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr20/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb75f0)
noseplugins.multiprocess 2017-10-13 12:04:34,840: DEBUG Worker 5 executing, pid=7526
noseplugins.multiprocess 2017-10-13 12:04:34,841: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_staticlinks (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:34,841: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c1e0>
2017-10-13 12:04:34,842 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:34,853: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:34,853: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_misc_pr2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:34,853: DEBUG batch result is ('test_kinematics.TestKinematics.test_misc_pr2 ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_misc_pr2 ... ok
noseplugins.multiprocess 2017-10-13 12:04:34,854: DEBUG Ran 1 tests (total: 67)
noseplugins.multiprocess 2017-10-13 12:04:34,854: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:34,868: DEBUG starting new process on worker 2
2017-10-13 12:04:34,876 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:34,877: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c280>
noseplugins.multiprocess 2017-10-13 12:04:34,877: DEBUG Waiting for results (83/178 tasks), next timeout=966.739s
openravepytest.TestKinematics.LoadRobot (pid=7526): ('robots/barrettwam.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:34,887: DEBUG Worker 2 executing, pid=7535
noseplugins.multiprocess 2017-10-13 12:04:34,888: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_wrapoffset (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:34,888: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c1e0>
2017-10-13 12:04:34,889 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:34,924 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:34,924: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestKinematics>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c280>
openravepytest.TestKinematics.LoadEnv (pid=7535): ('robots/pr2-beta-static.zae', {'skipgeometry': '1'}), {}
noseplugins.multiprocess 2017-10-13 12:04:35,065: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:35,066: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_specification(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:35,066: DEBUG batch result is ('test_kinematics.TestKinematics.test_specification ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_specification ... ok
noseplugins.multiprocess 2017-10-13 12:04:35,066: DEBUG Ran 1 tests (total: 68)
noseplugins.multiprocess 2017-10-13 12:04:35,066: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:35,074: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:35,083: DEBUG Waiting for results (84/178 tasks), next timeout=966.533s
noseplugins.multiprocess 2017-10-13 12:04:35,092: DEBUG Worker 3 executing, pid=7546
noseplugins.multiprocess 2017-10-13 12:04:35,094: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_applytorque (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:35,094: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c1e0>
2017-10-13 12:04:35,095 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:35,128 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:35,129: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c280>
openravepytest.test_applytorque (pid=7546): test if torque can be applied
openravepytest.test_ode.LoadEnv (pid=7546): ('data/lab1.env.xml',), {}
2017-10-13 12:04:35,546 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:35,546 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:35,546 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:35,546 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:35,547 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:35,549 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,574 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:35,575 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:35,575 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:35,575 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:35,575 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,594 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,613 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,613 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,635 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,635 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,635 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,635 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,644 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,645 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,647 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,668 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,668 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,691 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,692 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,692 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,692 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,701 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,749 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,770 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,770 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,793 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,793 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,793 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,794 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,802 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,803 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,805 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,824 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,824 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,845 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,845 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,845 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,845 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
2017-10-13 12:04:35,854 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd4959d20)
noseplugins.multiprocess 2017-10-13 12:04:35,864: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:35,865: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py:TestCOLLADA.test_collada_loading(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:35,865: DEBUG batch result is ('test_collada.TestCOLLADA.test_collada_loading ... ok\n', 1, [], [], {})
test_collada.TestCOLLADA.test_collada_loading ... ok
noseplugins.multiprocess 2017-10-13 12:04:35,865: DEBUG Ran 1 tests (total: 69)
noseplugins.multiprocess 2017-10-13 12:04:35,865: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:35,874: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:35,880: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:35,888: DEBUG Waiting for results (85/178 tasks), next timeout=975.556s
noseplugins.multiprocess 2017-10-13 12:04:35,889: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_staticlinks(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:35,889: DEBUG batch result is ('test_kinematics.TestKinematics.test_staticlinks ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_staticlinks ... ok
noseplugins.multiprocess 2017-10-13 12:04:35,889: DEBUG Ran 1 tests (total: 70)
noseplugins.multiprocess 2017-10-13 12:04:35,889: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:35,889: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:35,898: DEBUG Waiting for results (86/178 tasks), next timeout=975.546s
noseplugins.multiprocess 2017-10-13 12:04:35,899: DEBUG Worker 7 executing, pid=7561
noseplugins.multiprocess 2017-10-13 12:04:35,900: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_basic (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:35,901: DEBUG suite 139783299538448 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c3c0>
2017-10-13 12:04:35,902 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:35,908: DEBUG Worker 5 executing, pid=7564
noseplugins.multiprocess 2017-10-13 12:04:35,909: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_kinematics (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:35,909: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c1e0>
2017-10-13 12:04:35,910 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:35,935 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:35,936: DEBUG suite 139783299195088 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c460>
openravepytest.test_ode.LoadEnv (pid=7561): ('data/hanoi.env.xml',), {}
2017-10-13 12:04:35,944 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:35,945: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c280>
openravepytest.test_kinematics (pid=7564): test that physics kinematics are consistent
openravepytest.test_ode.LoadEnv (pid=7564): ('robots/pr2-beta-static.zae', {'skipgeometry': '1'}), {}
noseplugins.multiprocess 2017-10-13 12:04:36,042: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:36,042: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_basic(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:36,043: DEBUG batch result is ('test_physics.test_ode.test_basic ... ok\n', 1, [], [], {})
test_physics.test_ode.test_basic ... ok
noseplugins.multiprocess 2017-10-13 12:04:36,043: DEBUG Ran 1 tests (total: 71)
noseplugins.multiprocess 2017-10-13 12:04:36,043: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:36,049: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:36,058: DEBUG Waiting for results (87/178 tasks), next timeout=975.386s
noseplugins.multiprocess 2017-10-13 12:04:36,068: DEBUG Worker 7 executing, pid=7576
noseplugins.multiprocess 2017-10-13 12:04:36,069: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_odenoslip (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:36,069: DEBUG suite 139783299538384 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c410>
2017-10-13 12:04:36,070 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:36,104 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:36,105: DEBUG suite 139783299195088 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c4b0>
openravepytest.test_odenoslip (pid=7576): test that an ode option can prevent a body from slipping
noseplugins.multiprocess 2017-10-13 12:04:36,154: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:36,160: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_odenoslip(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:36,160: DEBUG batch result is ('test_physics.test_ode.test_odenoslip ... ok\n', 1, [], [], {})
test_physics.test_ode.test_odenoslip ... ok
noseplugins.multiprocess 2017-10-13 12:04:36,161: DEBUG Ran 1 tests (total: 72)
noseplugins.multiprocess 2017-10-13 12:04:36,163: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:36,182: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:36,198: DEBUG Waiting for results (88/178 tasks), next timeout=975.246s
noseplugins.multiprocess 2017-10-13 12:04:36,220: DEBUG Worker 7 executing, pid=7586
noseplugins.multiprocess 2017-10-13 12:04:36,225: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_rotationaxis (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:36,225: DEBUG suite 139783299538320 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c410>
2017-10-13 12:04:36,226 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:36,293 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:36,293: DEBUG suite 139783299195024 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c4b0>
openravepytest.test_ode.LoadDataEnv (pid=7586): LoadDataEnv
2017-10-13 12:04:36,627 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:36,627 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,627 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,627 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,627 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,628 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,629 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,630 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,631 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,632 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb89c0)
2017-10-13 12:04:36,633 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:36,633 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,633 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,633 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,633 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,634 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:36,634 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,634 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,634 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,634 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,646 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:36,646 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,646 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,646 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,646 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,763 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:36,763 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,763 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:36,763 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:36,763 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:36,798: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:36,799: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_wrapoffset(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:36,799: DEBUG batch result is ('test_kinematics.TestKinematics.test_wrapoffset ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3b680>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 794, in test_wrapoffset\n    assert( transdist(zerovalues,body.GetDOFValues()) <= g_epsilon )\nAssertionError: \n>>  assert( transdist(array([ 0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,\n            0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,\n            0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.]),RaveGetEnvironment(1).GetRobot(\'pr2\').GetDOFValues()) <= 1e-07 )\n    assert( transdist([array([[ 1.,  0.,  0.,  0.],\n           [ 0.,  1.,  0.,  0.],\n           [ 0.,  0.,  1.,  0.],\n           [ 0.,  0.,  0.,  1.]]), array([[ 1.   ,  0.   ,  0.   ,  0.   ],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.051],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],\n           [ 0.    ,  1.    ,  0.    ,  0.2246],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],\n           [ 0.    ,  1.    ,  0.    ,  0.2736],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],\n           [ 0.    ,  1.    ,  0.    ,  0.1756],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],\n           [ 0.    ,  1.    ,  0.    , -0.2246],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],\n           [ 0.    ,  1.    ,  0.    , -0.1756],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],\n           [ 0.    ,  1.    ,  0.    , -0.2736],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    ,  0.2246],\n           [ 0.    ,  1.    ,  0.    ,  0.2246],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    ,  0.2246],\n           [ 0.    ,  1.    ,  0.    ,  0.2736],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    ,  0.2246],\n           [ 0.    ,  1.    ,  0.    ,  0.1756],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    ,  0.2246],\n           [ 0.    ,  1.    ,  0.    , -0.2246],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    ,  0.2246],\n           [ 0.    ,  1.    ,  0.    , -0.1756],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    ,  0.2246],\n           [ 0.    ,  1.    ,  0.    , -0.2736],\n           [ 0.    ,  0.    ,  1.    ,  0.0792],\n           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.      ,  0.      ,  0.      , -0.05    ],\n           [ 0.      ,  1.      ,  0.      ,  0.      ],\n           [ 0.      ,  0.      ,  1.      ,  0.802175],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      , -0.06707 ],\n           [ 0.      ,  1.      ,  0.      ,  0.      ],\n           [ 0.      ,  0.      ,  1.      ,  1.183625],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[  1.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              9.30000000e-04],\n           [  0.00000000e+00,   1.00000000e+00,   0.00000000e+00,\n              0.00000000e+00],\n           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              1.18362500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.      ],\n           [ 0.      ,  0.      ,  1.      ,  1.248125],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.109   ],\n           [ 0.      ,  0.      ,  1.      ,  1.283125],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[  4.44089210e-16,  -0.00000000e+00,  -1.00000000e+00,\n              2.41300000e-02],\n           [  0.00000000e+00,   1.00000000e+00,  -0.00000000e+00,\n              1.09000000e-01],\n           [  1.00000000e+00,   0.00000000e+00,   4.44089210e-16,\n              1.28312500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.      ],\n           [ 0.      ,  0.      ,  1.      ,  1.248125],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.      ],\n           [ 0.      ,  0.      ,  1.      ,  1.251125],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.06    ],\n           [ 0.      ,  0.      ,  1.      ,  1.281625],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.06    ],\n           [ 0.      ,  0.      ,  1.      ,  1.281625],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[  1.11022302e-16,   3.88578059e-16,   1.00000000e+00,\n              2.41300000e-02],\n           [ -1.00000000e+00,   2.22044605e-16,   1.66533454e-16,\n              6.00000000e-02],\n           [ -2.22044605e-16,  -1.00000000e+00,   3.33066907e-16,\n              1.28162500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      , -0.03    ],\n           [ 0.      ,  0.      ,  1.      ,  1.281625],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[  1.11022302e-16,   3.88578059e-16,   1.00000000e+00,\n              2.41300000e-02],\n           [ -1.00000000e+00,   2.22044605e-16,   1.66533454e-16,\n             -3.00000000e-02],\n           [ -2.22044605e-16,  -1.00000000e+00,   3.33066907e-16,\n              1.28162500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.11022302e-16,   3.88578059e-16,   1.00000000e+00,\n              2.41300000e-02],\n           [ -1.00000000e+00,   2.22044605e-16,   1.66533454e-16,\n              6.00000000e-02],\n           [ -2.22044605e-16,  -1.00000000e+00,   3.33066907e-16,\n              1.28162500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.03    ],\n           [ 0.      ,  0.      ,  1.      ,  1.281625],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      ,  0.03    ],\n           [ 0.      ,  0.      ,  1.      ,  1.281625],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[  1.11022302e-16,   3.88578059e-16,   1.00000000e+00,\n              2.41300000e-02],\n           [ -1.00000000e+00,   2.22044605e-16,   1.66533454e-16,\n              3.00000000e-02],\n           [ -2.22044605e-16,  -1.00000000e+00,   3.33066907e-16,\n              1.28162500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      , -0.06    ],\n           [ 0.      ,  0.      ,  1.      ,  1.281625],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[  1.11022302e-16,   3.88578059e-16,   1.00000000e+00,\n              2.41300000e-02],\n           [ -1.00000000e+00,   2.22044605e-16,   1.66533454e-16,\n             -6.00000000e-02],\n           [ -2.22044605e-16,  -1.00000000e+00,   3.33066907e-16,\n              1.28162500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.11022302e-16,   3.88578059e-16,   1.00000000e+00,\n              2.41300000e-02],\n           [ -1.00000000e+00,   2.22044605e-16,   1.66533454e-16,\n              3.00000000e-02],\n           [ -2.22044605e-16,  -1.00000000e+00,   3.33066907e-16,\n              1.28162500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.02413 ],\n           [ 0.      ,  1.      ,  0.      , -0.109   ],\n           [ 0.      ,  0.      ,  1.      ,  1.283125],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[  1.11022302e-16,   3.88578059e-16,   1.00000000e+00,\n              2.41300000e-02],\n           [ -1.00000000e+00,   2.22044605e-16,   1.66533454e-16,\n             -1.09000000e-01],\n           [ -2.22044605e-16,  -1.00000000e+00,   3.33066907e-16,\n              1.28312500e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  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         [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,\n              8.50144658e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,\n              8.41914566e-01],\n           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,\n             -1.98000000e-01],\n           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,\n              8.69172503e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,\n              9.30444092e-01],\n           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,\n             -2.02950000e-01],\n           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,\n              8.91777810e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,\n              9.30444092e-01],\n           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,\n             -2.02950000e-01],\n           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,\n              8.91777810e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,\n              9.41799745e-01],\n           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,\n             -1.88000000e-01],\n           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,\n              8.94677386e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -1.00000000e+00,   0.00000000e+00,  -1.22464680e-16,\n             -7.97700000e-02],\n           [  0.00000000e+00,   1.00000000e+00,   0.00000000e+00,\n             -1.49700000e-01],\n           [  1.22464680e-16,   0.00000000e+00,  -1.00000000e+00,\n              9.66175000e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.0035  ],\n           [ 0.      ,  1.      ,  0.      ,  0.209285],\n           [ 0.      ,  0.      ,  1.      ,  0.9788  ],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      ,  0.0035  ],\n           [ 0.      ,  1.      ,  0.      , -0.209285],\n           [ 0.      ,  0.      ,  1.      ,  0.9788  ],\n           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.   ,  0.   ,  0.   , -0.15 ],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.751],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.   ,  0.   ,  0.   , -0.29 ],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.851],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.   ,  0.   ,  0.   ,  0.275],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.303],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]])],RaveGetEnvironment(1).GetRobot(\'pr2\').GetLinkTransformations()) <= 1e-07 )\n    RaveGetEnvironment(1).GetRobot(\'pr2\').SetDOFValues(array([ 2.29565867,  0.38989695, -1.85568237, -0.84374432,  0.21182581,\n            0.80370847,  2.43881754, -1.19263516,  2.87390226, -2.38469345,\n           -1.73572749, -1.84240869,  0.04160569,  2.40398655,  0.70676424,\n            1.66396831,  0.01091818, -0.223862  , -0.9843625 ,  2.86212397,\n           -0.51233371,  1.63355218,  0.31813436,  0.05343098,  2.69980219,\n            0.02557046, -0.36487295, -0.93997303, -0.1906131 , -1.04019243,\n           -0.46183237,  2.96739912, -0.88014842,  2.85971246,  0.53722787,\n           -0.03459789, -0.50614271,  0.04488683,  1.22334835]))\n    \n')], [], {})
test_kinematics.TestKinematics.test_wrapoffset ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:36,799: DEBUG Ran 1 tests (total: 73)
noseplugins.multiprocess 2017-10-13 12:04:36,799: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:36,816: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:36,820: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:36,826: DEBUG Waiting for results (89/178 tasks), next timeout=974.618s
noseplugins.multiprocess 2017-10-13 12:04:36,827: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_applytorque(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:36,827: DEBUG batch result is ('test_physics.test_ode.test_applytorque ... ok\n', 1, [], [], {})
test_physics.test_ode.test_applytorque ... ok
noseplugins.multiprocess 2017-10-13 12:04:36,827: DEBUG Ran 1 tests (total: 74)
noseplugins.multiprocess 2017-10-13 12:04:36,827: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:36,839: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:36,841: DEBUG Worker 2 executing, pid=7600
noseplugins.multiprocess 2017-10-13 12:04:36,842: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_simtime (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:36,842: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c230>
2017-10-13 12:04:36,843 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:36,849: DEBUG Waiting for results (90/178 tasks), next timeout=974.595s
noseplugins.multiprocess 2017-10-13 12:04:36,868: DEBUG Worker 3 executing, pid=7605
noseplugins.multiprocess 2017-10-13 12:04:36,870: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_static (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:36,870: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c230>
2017-10-13 12:04:36,871 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:36,884 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:36,885: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c2d0>
2017-10-13 12:04:36,914 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:36,915: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c2d0>
openravepytest.test_ode.LoadEnv (pid=7605): ('data/hanoi.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:37,189: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:37,190: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py:TestIkSolver.test_circularfree(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:37,190: DEBUG batch result is ('test_iksolver.TestIkSolver.test_circularfree ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3b878>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py", line 522, in test_circularfree\n    ikmodel.autogenerate()\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate\n    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D\n    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes\n    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes\n    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6872, in SolveAllEquations\n    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6972, in AddSolution\n    return [solution[0].subs(solsubs)]+self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations\n    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8704, in SolvePairVariables\n    M = zeros((4,4))\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros\n    return Matrix.zeros(*args, **kwargs)\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros\n    rows, cols = as_int(rows), as_int(cols)\n  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int\n    raise ValueError(\'%s is not an integer\' % (n,))\nValueError: (4, 4) is not an integer\n')], {})
test_iksolver.TestIkSolver.test_circularfree ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:37,190: DEBUG Ran 1 tests (total: 75)
noseplugins.multiprocess 2017-10-13 12:04:37,190: DEBUG joining worker 4
2017-10-13 12:04:37,193 openrave [WARN] [kinbody.cpp:4024 KinBody::_ComputeInternalInformation] diffdrive_caster passive joint index 7 has no name
noseplugins.multiprocess 2017-10-13 12:04:37,206: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:37,215: DEBUG Waiting for results (91/178 tasks), next timeout=974.230s
noseplugins.multiprocess 2017-10-13 12:04:37,226: DEBUG Worker 4 executing, pid=7618
noseplugins.multiprocess 2017-10-13 12:04:37,227: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_basicplanning (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:37,227: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c230>
2017-10-13 12:04:37,229 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:37,270 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:37,270: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c2d0>
openravepytest.test_ode.LoadEnv (pid=7618): ('data/hironxtable.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:37,531: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:37,532: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_rotationaxis(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:37,532: DEBUG batch result is ('test_physics.test_ode.test_rotationaxis ... ok\n', 1, [], [], {})
test_physics.test_ode.test_rotationaxis ... ok
noseplugins.multiprocess 2017-10-13 12:04:37,532: DEBUG Ran 1 tests (total: 76)
noseplugins.multiprocess 2017-10-13 12:04:37,532: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:37,539: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:37,549: DEBUG Waiting for results (92/178 tasks), next timeout=973.896s
noseplugins.multiprocess 2017-10-13 12:04:37,561: DEBUG Worker 7 executing, pid=7628
noseplugins.multiprocess 2017-10-13 12:04:37,562: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_constraintpr2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:37,563: DEBUG suite 139783299538128 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c410>
2017-10-13 12:04:37,563 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:37,596 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:37,597: DEBUG suite 139783299538832 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c4b0>
openravepytest.test_ode.LoadRobot (pid=7628): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:04:37,615 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:37,615 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:37,615 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:37,615 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:37,615 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,616 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,617 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,618 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/bl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/br_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fl_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_rotation_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_l_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/fr_caster_r_wheel_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,619 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_pan_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_shoulder_lift_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_upper_arm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_elbow_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_flex_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_wrist_roll_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_palm_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_r_finger_tip_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,620 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,621 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5cb8e60)
2017-10-13 12:04:37,722 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:37,722 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:37,722 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:37,722 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:37,722 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepy.ikfast.buildRaghavanRothEquations (pid=7209): computed in 9.706679s
2017-10-13 12:04:38,628 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:38,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:38,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:38,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:38,628 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 14 value is not in limits 1.296272e+00<1.296260e+00
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 16 value is not in limits 1.297758e+00<1.296300e+00
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 17 value is not in limits -6.500429e-01<-6.500008e-01
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 22 value is not in limits -5.271046e-05<0.000000e+00
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 23 value is not in limits 1.000280e-01<1.000000e-01
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 28 value is not in limits 1.297590e+00<1.296300e+00
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 29 value is not in limits 6.501035e-01<6.500008e-01
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 34 value is not in limits -4.073118e-05<0.000000e+00
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 35 value is not in limits 1.000214e-01<1.000000e-01
2017-10-13 12:04:38,681 openrave [WARN] [kinbody.cpp:1566 KinBody::SetDOFValues] dummy joint out of lower limit! 0.000000e+00 < -7.740784e-04
noseplugins.multiprocess 2017-10-13 12:04:38,956: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:38,956: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_kinematics(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:38,956: DEBUG batch result is ('test_physics.test_ode.test_kinematics ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3bab8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py", line 132, in test_kinematics\n    assert(errordist <= 35*g_epsilon*numlinks)\nAssertionError: \n    [array([[ 1.,  0.,  0.,  0.],\n           [ 0.,  1.,  0.,  0.],\n           [ 0.,  0.,  1.,  0.],\n>>         [ 0.,  0.,  0.,  1.]]), array([[ 1.   ,  0.   ,  0.   ,  0.   ],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.051],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[  1.00000000e+00,  -9.61302547e-07,   0.00000000e+00,\n             -2.24600000e-01],\n           [  9.61302547e-07,   1.00000000e+00,   0.00000000e+00,\n              2.24600000e-01],\n           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -9.61302547e-07,   9.83285921e-05,\n             -2.24600047e-01],\n           [  9.61302542e-07,   1.00000000e+00,   9.45235261e-11,\n              2.73600000e-01],\n           [ -9.83285921e-05,   1.00166402e-24,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -9.61302547e-07,   9.82724647e-05,\n             -2.24599953e-01],\n           [  9.61302542e-07,   1.00000000e+00,   9.44695706e-11,\n              1.75600000e-01],\n           [ -9.82724647e-05,   9.95201674e-25,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -9.72558357e-07,   0.00000000e+00,\n             -2.24600000e-01],\n           [  9.72558357e-07,   1.00000000e+00,   0.00000000e+00,\n             -2.24600000e-01],\n           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -9.72558357e-07,   9.96333329e-05,\n             -2.24600048e-01],\n           [  9.72558353e-07,   1.00000000e+00,   9.68992306e-11,\n             -1.75600000e-01],\n           [ -9.96333329e-05,   1.00812637e-24,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -9.72558357e-07,   1.01713684e-04,\n             -2.24599952e-01],\n           [  9.72558352e-07,   1.00000000e+00,   9.89224938e-11,\n             -2.73600000e-01],\n           [ -1.01713684e-04,   3.42504472e-25,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -2.65870784e-07,   0.00000000e+00,\n              2.24600000e-01],\n           [  2.65870784e-07,   1.00000000e+00,   0.00000000e+00,\n              2.24600000e-01],\n           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -2.65870784e-07,   1.00946707e-04,\n              2.24599987e-01],\n           [  2.65870783e-07,   1.00000000e+00,   2.68387803e-11,\n              2.73600000e-01],\n           [ -1.00946707e-04,   1.02589783e-24,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -2.65870784e-07,   9.99364054e-05,\n              2.24600013e-01],\n           [  2.65870783e-07,   1.00000000e+00,   2.65701705e-11,\n              1.75600000e-01],\n           [ -9.99364054e-05,   1.01620431e-24,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -2.13581582e-06,   0.00000000e+00,\n              2.24600000e-01],\n           [  2.13581582e-06,   1.00000000e+00,   0.00000000e+00,\n             -2.24600000e-01],\n           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -2.13581582e-06,   1.01845098e-04,\n              2.24599895e-01],\n           [  2.13581581e-06,   1.00000000e+00,   2.17522371e-10,\n             -1.75600000e-01],\n           [ -1.01845098e-04,   1.03397577e-24,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -2.13581582e-06,   1.01360410e-04,\n              2.24600105e-01],\n           [  2.13581581e-06,   1.00000000e+00,   2.16487166e-10,\n             -2.73600000e-01],\n           [ -1.01360410e-04,   6.85008945e-25,   9.99999995e-01,\n              7.92000000e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.        ,  0.        ,  0.        , -0.05      ],\n           [ 0.        ,  1.        ,  0.        ,  0.        ],\n           [ 0.        ,  0.        ,  1.        ,  0.81239062],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  9.99970779e-01,   7.64468816e-03,   0.00000000e+00,\n             -6.70700000e-02],\n           [ -7.64468816e-03,   9.99970779e-01,  -0.00000000e+00,\n              2.65228400e-20],\n           [ -0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              1.19384062e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              9.28012968e-04],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n             -5.19838795e-04],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19384062e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              6.93000923e-02],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n             -1.04253729e-03],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.18899546e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.03821659e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n              1.07696734e-01],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19848400e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.62522748e-01,   7.64468816e-03,  -2.71093191e-01,\n              1.03821659e-01],\n           [ -7.35840128e-03,   9.99970779e-01,   2.07248347e-03,\n              1.07696734e-01],\n           [  2.71101113e-01,   2.23996169e-16,   9.62550875e-01,\n              1.19848400e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              6.93000923e-02],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n             -1.04253729e-03],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.18899546e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              7.21876605e-02],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n             -1.06461250e-03],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.18980876e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.02003286e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n              5.87092030e-02],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.02003286e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n              5.87092030e-02],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,\n              1.02003286e-01],\n           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,\n              5.87092030e-02],\n           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.01315264e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n             -3.12881671e-02],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,\n              1.01315264e-01],\n           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,\n             -3.12881671e-02],\n           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,\n              1.02003286e-01],\n           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,\n              5.87092030e-02],\n           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.01773945e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n              2.87100796e-02],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.01773945e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n              2.87100796e-02],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,\n              1.01773945e-01],\n           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,\n              2.87100796e-02],\n           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.01085923e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n             -6.12872905e-02],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,\n              1.01085923e-01],\n           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,\n             -6.12872905e-02],\n           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,\n              1.01773945e-01],\n           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,\n              2.87100796e-02],\n           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,\n              1.19807735e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,\n              1.02155117e-01],\n           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,\n             -1.10296896e-01],\n           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,\n              1.19848400e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,\n              1.02155117e-01],\n           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,\n             -1.10296896e-01],\n           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,\n              1.19848400e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 0.99595782,  0.08982216,  0.        , -0.05      ],\n           [-0.08982216,  0.99595782, -0.        ,  0.188     ],\n           [-0.        ,  0.        ,  1.        ,  0.81239062],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  2.69966790e-01,   8.98221622e-02,   9.58670909e-01,\n              4.95957820e-02],\n           [ -2.43474175e-02,   9.95957820e-01,  -8.64593782e-02,\n              1.79017784e-01],\n           [ -9.62561757e-01,   7.63278329e-17,   2.71062474e-01,\n              8.12390620e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 0.26996679, -0.50866925,  0.81754115,  0.04959578],\n           [-0.02434742,  0.84518952,  0.53391186,  0.17901778],\n           [-0.96256176, -0.16404349,  0.21578832,  0.81239062],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.26996679, -0.50866925,  0.81754115,  0.04959578],\n           [-0.02434742,  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0.39340795,  0.2225352 ],\n           [-0.90145911,  0.13621463, -0.41087352,  0.1441154 ],\n           [ 0.30201935, -0.48204893, -0.8224434 ,  0.30363658],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.49818468,  0.86549077, -0.05232342,  0.1575825 ],\n           [ 0.13354529, -0.13621499, -0.98163697,  0.16927882],\n           [-0.85672497,  0.48204895, -0.18344244,  0.42736592],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  4.76156541e-01,   8.65490774e-01,  -1.55565641e-01,\n              3.17499782e-01],\n           [ -7.51410276e-02,  -1.36214995e-01,  -9.87825542e-01,\n              2.12146854e-01],\n           [ -8.76144266e-01,   4.82048955e-01,   1.74205420e-04,\n              1.52357201e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.31749978],\n           [-0.07514103,  0.88936229,  0.45098619,  0.21214685],\n           [-0.87614427, -0.27484245,  0.39602128,  0.1523572 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.31749978],\n           [-0.07514103,  0.88936229,  0.45098619,  0.21214685],\n           [-0.87614427, -0.27484245,  0.39602128,  0.1523572 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.35046727],\n           [-0.07514103,  0.88936229,  0.45098619,  0.21526138],\n           [-0.87614427, -0.27484245,  0.39602128,  0.08222452],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  4.76156541e-01,  -3.65371520e-01,   7.99861614e-01,\n              3.92165100e-01],\n           [ -7.51410276e-02,   8.89362289e-01,   4.50986192e-01,\n              2.12798088e-01],\n           [ -8.76144266e-01,  -2.74842449e-01,   3.96021279e-01,\n              8.10749689e-04],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.44524306],\n           [-0.07514103,  0.88936229,  0.45098619,  0.19198802],\n           [-0.87614427, -0.27484245,  0.39602128, -0.08269478],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.88391203, -0.36537152, -0.29189583,  0.44524306],\n           [ 0.42406111,  0.88936229,  0.17090024,  0.19198802],\n           [ 0.19715907, -0.27484245,  0.94105788, -0.08269478],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.36144324],\n           [-0.07514103,  0.88936229,  0.45098619,  0.21929618],\n           [-0.87614427, -0.27484245,  0.39602128,  0.11707392],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.31749978],\n           [-0.07514103,  0.88936229,  0.45098619,  0.21214685],\n           [-0.87614427, -0.27484245,  0.39602128,  0.1523572 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.3577747 ],\n           [-0.07514103,  0.88936229,  0.45098619,  0.19747414],\n           [-0.87614427, -0.27484245,  0.39602128,  0.08772137],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.40308971],\n           [-0.07514103,  0.88936229,  0.45098619,  0.18620616],\n           [-0.87614427, -0.27484245,  0.39602128,  0.00902854],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.40673736],\n           [-0.07514103,  0.88936229,  0.45098619,  0.1773273 ],\n           [-0.87614427, -0.27484245,  0.39602128,  0.0117724 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.40320796],\n           [-0.07514103,  0.88936229,  0.45098619,  0.19862147],\n           [-0.87614427, -0.27484245,  0.39602128, -0.00534877],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  9.99929599e-01,   1.73469294e-18,  -1.18658032e-02,\n              4.89300000e-02],\n           [ -1.73469294e-18,   1.00000000e+00,   1.02921248e-20,\n              1.66167881e-33],\n           [  1.18658032e-02,   1.02921248e-20,   9.99929599e-01,\n              1.03939062e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99929599e-01,   1.73469294e-18,  -1.18658032e-02,\n              4.85740259e-02],\n           [ -1.73469294e-18,   1.00000000e+00,   1.02921248e-20,\n              3.08763745e-22],\n           [  1.18658032e-02,   1.02921248e-20,   9.99929599e-01,\n              1.06938851e+00],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 0.99213728, -0.12515441,  0.        , -0.05      ],\n           [ 0.12515441,  0.99213728,  0.        , -0.188     ],\n           [ 0.        ,  0.        ,  1.        ,  0.81239062],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  2.68931184e-01,  -1.25154407e-01,   9.54993399e-01,\n              4.92137276e-02],\n           [  3.39246631e-02,   9.92137276e-01,   1.20468846e-01,\n             -1.75484559e-01],\n           [ -9.62561757e-01,   6.24500451e-17,   2.71062474e-01,\n              8.12390620e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 0.26893118,  0.47831626,  0.83599616,  0.04921373],\n           [ 0.03392466,  0.86273014, -0.50452535, -0.17548456],\n           [-0.96256176,  0.16404349,  0.21578832,  0.81239062],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.26893118,  0.47831626,  0.83599616,  0.04921373],\n           [ 0.03392466,  0.86273014, -0.50452535, -0.17548456],\n           [-0.96256176,  0.16404349,  0.21578832,  0.81239062],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.50222046,  0.47831626,  0.72040833,  0.1567862 ],\n           [-0.11548931,  0.86273014, -0.49229963, -0.16191469],\n           [-0.8569929 ,  0.16404349,  0.48852114,  0.42736592],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.50222046,  0.74418222,  0.44041733,  0.1567862 ],\n           [-0.11548931,  0.56246615, -0.81871487, -0.16191469],\n           [-0.8569929 ,  0.36031187,  0.3684271 ,  0.42736592],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.65975491,  0.10448025, -0.74418233,  0.24396433],\n           [-0.53455124, -0.63078294, -0.56246587, -0.21352921],\n           [-0.5281841 ,  0.7688932 , -0.36031209,  0.32788267],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[-0.10448025,  0.74418233,  0.65975491,  0.24396433],\n           [ 0.63078294,  0.56246587, -0.53455124, -0.21352921],\n           [-0.7688932 ,  0.36031209, -0.5281841 ,  0.32788267],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.50222046,  0.74418222,  0.44041733,  0.1567862 ],\n           [-0.11548931,  0.56246615, -0.81871487, -0.16191469],\n           [-0.8569929 ,  0.36031187,  0.3684271 ,  0.42736592],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.74418222,  0.33420957,  0.31799897],\n           [-0.27267904,  0.56246615, -0.7805626 , -0.19898676],\n           [-0.76886238,  0.36031187,  0.52822911,  0.1522712 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.31799897],\n           [-0.27267904,  0.71245659, -0.64656922, -0.19898676],\n           [-0.76886238,  0.24261906,  0.59159668,  0.1522712 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.31799897],\n           [-0.27267904,  0.71245659, -0.64656922, -0.19898676],\n           [-0.76886238,  0.24261906,  0.59159668,  0.1522712 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.36906479],\n           [-0.27267904,  0.71245659, -0.64656922, -0.21283394],\n           [-0.76886238,  0.24261906,  0.59159668,  0.09556418],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.42516854],\n           [-0.27267904,  0.71245659, -0.64656922, -0.23422197],\n           [-0.76886238,  0.24261906,  0.59159668,  0.02651419],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.47316058],\n           [-0.27267904,  0.71245659, -0.64656922, -0.2721411 ],\n           [-0.76886238,  0.24261906,  0.59159668, -0.0539992 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.6889281 ,  0.65843876, -0.30304531,  0.47316058],\n           [-0.70032851,  0.71245659, -0.04410879, -0.2721411 ],\n           [ 0.18686369,  0.24261906,  0.95195481, -0.0539992 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.35942031],\n           [-0.27267904,  0.71245659, -0.64656922, -0.22875149],\n           [-0.76886238,  0.24261906,  0.59159668,  0.12726352],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.31799897],\n           [-0.27267904,  0.71245659, -0.64656922, -0.19898676],\n           [-0.76886238,  0.24261906,  0.59159668,  0.1522712 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.35589602],\n           [-0.27267904,  0.71245659, -0.64656922, -0.22708307],\n           [-0.76886238,  0.24261906,  0.59159668,  0.0907118 ],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.40548122],\n           [-0.27267904,  0.71245659, -0.64656922, -0.25552442],\n           [-0.76886238,  0.24261906,  0.59159668,  0.01925988],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.39919639],\n           [-0.27267904,  0.71245659, -0.64656922, -0.26232485],\n           [-0.76886238,  0.24261906,  0.59159668,  0.01694407],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.42210322],\n           [-0.27267904,  0.71245659, -0.64656922, -0.24806899],\n           [-0.76886238,  0.24261906,  0.59159668,  0.01387597],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ -1.00000000e+00,   0.00000000e+00,  -1.22464680e-16,\n             -7.97700000e-02],\n           [  0.00000000e+00,   1.00000000e+00,   0.00000000e+00,\n             -1.49700000e-01],\n           [  1.22464680e-16,   0.00000000e+00,  -1.00000000e+00,\n              9.76390620e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.        ,  0.        ,  0.        ,  0.0035    ],\n           [ 0.        ,  1.        ,  0.        ,  0.209285  ],\n           [ 0.        ,  0.        ,  1.        ,  0.98901562],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 1.        ,  0.        ,  0.        ,  0.0035    ],\n           [ 0.        ,  1.        ,  0.        , -0.209285  ],\n           [ 0.        ,  0.        ,  1.        ,  0.98901562],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  1.00000000e+00,   3.37925264e-07,   0.00000000e+00,\n             -1.50000000e-01],\n           [ -3.37925264e-07,   1.00000000e+00,  -0.00000000e+00,\n              0.00000000e+00],\n           [ -0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              7.51000000e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.   ,  0.   ,  0.   , -0.29 ],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.851],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.   ,  0.   ,  0.   ,  0.275],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.303],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]])] = RaveGetEnvironment(1).GetRobot(\'pr2\').GetLinkTransformations()\n    88 = len([array([[ 1.,  0.,  0.,  0.],\n           [ 0.,  1.,  0.,  0.],\n           [ 0.,  0.,  1.,  0.],\n           [ 0.,  0.,  0.,  1.]]), array([[  9.99999995e-01,  -3.41455651e-07,  -1.03285939e-04,\n             -2.47814565e-07],\n           [  3.42813330e-07,   1.00000000e+00,   1.31448366e-05,\n              1.26865381e-07],\n           [  1.03285934e-04,  -1.31448719e-05,   9.99999995e-01,\n              4.83955874e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -1.30272922e-06,  -1.01804140e-04,\n             -2.24603244e-01],\n           [  1.30409619e-06,   1.00000000e+00,   1.34273368e-05,\n              2.24600243e-01],\n           [  1.01804122e-04,  -1.34274695e-05,   9.99999995e-01,\n              7.65273174e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -1.44402499e-06,  -3.47554662e-06,\n             -2.24603206e-01],\n           [  1.44406944e-06,   1.00000000e+00,   1.27910699e-05,\n              2.73600399e-01],\n           [  3.47552815e-06,  -1.27910749e-05,   1.00000000e+00,\n              7.65228048e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -1.47443636e-06,  -3.53167425e-06,\n             -2.24603236e-01],\n           [  1.47448209e-06,   1.00000000e+00,   1.29477510e-05,\n              1.75600246e-01],\n           [  3.53165516e-06,  -1.29477562e-05,   1.00000000e+00,\n              7.65241161e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -1.31405192e-06,  -1.01911961e-04,\n             -2.24602955e-01],\n           [  1.31535388e-06,   1.00000000e+00,   1.27752490e-05,\n             -2.24599502e-01],\n           [  1.01911944e-04,  -1.27753830e-05,   9.99999995e-01,\n              7.65333178e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -9.34811477e-07,  -2.27862811e-06,\n             -2.24602789e-01],\n           [  9.34840952e-07,   1.00000000e+00,   1.29355247e-05,\n             -1.75599515e-01],\n           [  2.27861602e-06,  -1.29355268e-05,   1.00000000e+00,\n              7.65287206e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -8.78616210e-07,  -1.98275448e-07,\n             -2.24602625e-01],\n           [  8.78618562e-07,   1.00000000e+00,   1.18596235e-05,\n             -2.73599535e-01],\n           [  1.98265028e-07,  -1.18596236e-05,   1.00000000e+00,\n              7.65300617e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -6.07301518e-07,  -1.04095577e-04,\n              2.24596517e-01],\n           [  6.08694854e-07,   1.00000000e+00,   1.33851290e-05,\n              2.24600428e-01],\n           [  1.04095569e-04,  -1.33851923e-05,   9.99999994e-01,\n              7.65739550e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -7.38894110e-07,  -3.14886947e-06,\n              2.24596635e-01],\n  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0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -2.43516746e-06,  -3.19738187e-06,\n              2.24597067e-01],\n           [  2.43520991e-06,   1.00000000e+00,   1.32772499e-05,\n             -1.75599426e-01],\n           [  3.19734954e-06,  -1.32772577e-05,   1.00000000e+00,\n              7.65749812e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -2.48025447e-06,  -3.68207011e-06,\n              2.24597305e-01],\n           [  2.48030314e-06,   1.00000000e+00,   1.32198821e-05,\n             -2.73599297e-01],\n           [  3.68203732e-06,  -1.32198912e-05,   1.00000000e+00,\n              7.65763298e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999999e-01,  -1.29565195e-06,   3.80924115e-05,\n             -4.99957111e-02],\n           [  1.29468263e-06,   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  2.69694040e-01,\n              8.09148259e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 0.2641897 ,  0.47905653,  0.83708342,  0.04920929],\n           [ 0.03417387,  0.86272534, -0.50451673, -0.17546701],\n           [-0.96386511,  0.1618945 ,  0.21155193,  0.80734122],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.26216427,  0.47909141,  0.83770001,  0.04920171],\n           [ 0.03535305,  0.86271122, -0.50445963, -0.1754502 ],\n           [-0.96437548,  0.16186654,  0.20923472,  0.80589758],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.49582453,  0.47956017,  0.72400282,  0.15406797],\n           [-0.11487104,  0.86259046, -0.4926889 , -0.16130828],\n           [-0.86079189,  0.16112029,  0.48278108,  0.42002066],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.4932342 ,  0.74800216,  0.44408646,  0.15406762],\n     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0.74836622,  0.34056993,  0.31217626],\n           [-0.27126065,  0.56193115, -0.78144164, -0.19772173],\n           [-0.77618138,  0.35239379,  0.52283944,  0.14163404],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.56759722,  0.66147608,  0.49018649,  0.31218228],\n           [-0.2699181 ,  0.71198888, -0.64824073, -0.19771938],\n           [-0.77780307,  0.23562943,  0.58266728,  0.14145567],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.56672062,  0.66130672,  0.49142767,  0.31216693],\n           [-0.26873313,  0.71220445, -0.64849621, -0.19771584],\n           [-0.77885187,  0.23545327,  0.58133597,  0.14120951],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.56633431,  0.66097709,  0.49231569,  0.36236939],\n           [-0.26828845,  0.71265842, -0.64818152, -0.21125622],\n           [-0.77928606,  0.23500482,  0.58093543,  0.08361997],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.13897533,  0.8590873 ,  0.4926001 ,  0.41738284],\n           [-0.60015167,  0.46873782, -0.6481534 , -0.23224308],\n           [-0.78772066, -0.20555744,  0.58072567,  0.01355318],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.56658484,  0.66131691,  0.49157051,  0.46417549],\n           [-0.26857229,  0.71219654, -0.64857151, -0.26981288],\n           [-0.77900612,  0.23544857,  0.58113117, -0.06779057],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.69258776,  0.66131896, -0.2880615 ,  0.46417364],\n           [-0.70028697,  0.71220078, -0.04866428, -0.26980904],\n           [ 0.17297501,  0.23543   ,  0.95637459, -0.06781702],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.56669411,  0.66132039,  0.49143985,  0.35320929],\n           [-0.2687106 ,  0.71219018, -0.64852121, -0.22729973],\n           [-0.77887894,  0.23545805,  0.58129778,  0.11534339],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.56674257,  0.66127904,  0.49143961,  0.31217334],\n           [-0.26876734,  0.71224256, -0.64844017, -0.1977205 ],\n           [-0.7788241 ,  0.23541574,  0.58138839,  0.14120243],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.56623517,  0.66150125,  0.49172535,  0.34913635],\n           [-0.26833426,  0.7120208 , -0.64886293, -0.22550105],\n           [-0.77934232,  0.23546225,  0.58067467,  0.07890972],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.74940028,  0.44336086,  0.49176251,  0.397597  ],\n           [-0.02405459,  0.76045239, -0.64894802, -0.25354254],\n           [-0.66168013,  0.47449269,  0.5805481 ,  0.00651592],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.74943118,  0.44336558,  0.49171116,  0.39336841],\n           [-0.02403817,  0.76040514, -0.649004  , -0.26083423],\n           [-0.66164573,  0.474564  ,  0.58052902,  0.00203689],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  5.66647028e-01,   6.61305027e-01,   4.91514808e-01,\n              4.14177315e-01],\n           [ -2.68613516e-01,   7.12199880e-01,  -6.48550777e-01,\n             -2.46046419e-01],\n           [ -7.78946677e-01,   2.35471849e-01,   5.81201414e-01,\n              9.82500942e-04],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ -9.99999999e-01,  -3.52092618e-07,  -3.83515449e-05,\n             -7.97601864e-02],\n           [ -3.51119859e-07,   1.00000000e+00,  -2.53642821e-05,\n             -1.49677828e-01],\n           [  3.83515538e-05,  -2.53642686e-05,  -9.99999999e-01,\n              9.73788738e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999999e-01,  -1.10082207e-06,   4.20570250e-05,\n              3.51071546e-03],\n           [  1.09979917e-06,   1.00000000e+00,   2.43218738e-05,\n              2.09307268e-01],\n           [ -4.20570518e-05,  -2.43218275e-05,   9.99999999e-01,\n              9.86400551e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999999e-01,  -1.16275016e-06,   3.94622669e-05,\n              3.51012250e-03],\n           [  1.16168788e-06,   1.00000000e+00,   2.69187921e-05,\n             -2.09262378e-01],\n           [ -3.94622982e-05,  -2.69187463e-05,   9.99999999e-01,\n              9.86412753e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -3.52319286e-09,  -1.02709694e-04,\n             -1.50072113e-01],\n           [  4.88047116e-09,   1.00000000e+00,   1.32147048e-05,\n              9.19509966e-06],\n           [  1.02709694e-04,  -1.32147052e-05,   9.99999995e-01,\n              7.48370409e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -2.90401187e-07,  -1.03983410e-04,\n             -2.90080696e-01],\n           [  2.91787664e-07,   1.00000000e+00,   1.33336236e-05,\n              1.05928948e-05],\n           [  1.03983406e-04,  -1.33336539e-05,   9.99999995e-01,\n              8.48355830e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -3.27270575e-07,  -1.01861632e-04,\n              2.74973720e-01],\n           [  3.28591899e-07,   1.00000000e+00,   1.29717432e-05,\n              3.51543258e-06],\n           [  1.01861628e-04,  -1.29717766e-05,   9.99999995e-01,\n              3.00424665e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]])])\n    10.205419140588345 = transdist([array([[ 1.,  0.,  0.,  0.],\n           [ 0.,  1.,  0.,  0.],\n           [ 0.,  0.,  1.,  0.],\n         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1.00000000e+00]]), array([[  1.00000000e+00,  -9.34811477e-07,  -2.27862811e-06,\n             -2.24602789e-01],\n           [  9.34840952e-07,   1.00000000e+00,   1.29355247e-05,\n             -1.75599515e-01],\n           [  2.27861602e-06,  -1.29355268e-05,   1.00000000e+00,\n              7.65287206e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -8.78616210e-07,  -1.98275448e-07,\n             -2.24602625e-01],\n           [  8.78618562e-07,   1.00000000e+00,   1.18596235e-05,\n             -2.73599535e-01],\n           [  1.98265028e-07,  -1.18596236e-05,   1.00000000e+00,\n              7.65300617e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  9.99999995e-01,  -6.07301518e-07,  -1.04095577e-04,\n              2.24596517e-01],\n           [  6.08694854e-07,   1.00000000e+00,   1.33851290e-05,\n              2.24600428e-01],\n  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9.99999994e-01,  -2.47723478e-06,  -1.05042480e-04,\n              2.24597061e-01],\n           [  2.47865255e-06,   1.00000000e+00,   1.34969212e-05,\n             -2.24599377e-01],\n           [  1.05042447e-04,  -1.34971815e-05,   9.99999994e-01,\n              7.65793061e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -2.43516746e-06,  -3.19738187e-06,\n              2.24597067e-01],\n           [  2.43520991e-06,   1.00000000e+00,   1.32772499e-05,\n             -1.75599426e-01],\n           [  3.19734954e-06,  -1.32772577e-05,   1.00000000e+00,\n              7.65749812e-02],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[  1.00000000e+00,  -2.48025447e-06,  -3.68207011e-06,\n              2.24597305e-01],\n           [  2.48030314e-06,   1.00000000e+00,   1.32198821e-05,\n             -2.73599297e-01],\n           [  3.68203732e-06,  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  1.00000000e+00]]), array([[ 1.        ,  0.        ,  0.        ,  0.0035    ],\n           [ 0.        ,  1.        ,  0.        ,  0.209285  ],\n           [ 0.        ,  0.        ,  1.        ,  0.98901562],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 1.        ,  0.        ,  0.        ,  0.0035    ],\n           [ 0.        ,  1.        ,  0.        , -0.209285  ],\n           [ 0.        ,  0.        ,  1.        ,  0.98901562],\n           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  1.00000000e+00,   3.37925264e-07,   0.00000000e+00,\n             -1.50000000e-01],\n           [ -3.37925264e-07,   1.00000000e+00,  -0.00000000e+00,\n              0.00000000e+00],\n           [ -0.00000000e+00,   0.00000000e+00,   1.00000000e+00,\n              7.51000000e-01],\n           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n              1.00000000e+00]]), array([[ 1.   ,  0.   ,  0.   , -0.29 ],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.851],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.   ,  0.   ,  0.   ,  0.275],\n           [ 0.   ,  1.   ,  0.   ,  0.   ],\n           [ 0.   ,  0.   ,  1.   ,  0.303],\n           [ 0.   ,  0.   ,  0.   ,  1.   ]])])\n    assert(10.205419140588345 <= 35*1e-07*88)\n    \n')], [], {})
test_physics.test_ode.test_kinematics ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:38,957: DEBUG Ran 1 tests (total: 77)
noseplugins.multiprocess 2017-10-13 12:04:38,957: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:38,964: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:38,973: DEBUG Waiting for results (93/178 tasks), next timeout=972.471s
noseplugins.multiprocess 2017-10-13 12:04:38,982: DEBUG Worker 5 executing, pid=7638
noseplugins.multiprocess 2017-10-13 12:04:38,983: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_constraintwam (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:38,984: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c2d0>
2017-10-13 12:04:38,984 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:39,018 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:39,018: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c370>
openravepytest.test_ode.LoadEnv (pid=7638): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:39,242: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:39,242: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_static(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:39,243: DEBUG batch result is ('test_physics.test_ode.test_static ... ok\n', 1, [], [], {})
test_physics.test_ode.test_static ... ok
noseplugins.multiprocess 2017-10-13 12:04:39,243: DEBUG Ran 1 tests (total: 78)
noseplugins.multiprocess 2017-10-13 12:04:39,243: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:39,258: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:39,269: DEBUG Waiting for results (94/178 tasks), next timeout=972.175s
noseplugins.multiprocess 2017-10-13 12:04:39,280: DEBUG Worker 3 executing, pid=7648
noseplugins.multiprocess 2017-10-13 12:04:39,281: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_handgoal_collision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:39,282: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c320>
2017-10-13 12:04:39,283 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:39,292 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:39,292 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:39,292 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:39,292 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:39,292 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:39,325 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:39,326: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c3c0>
openravepytest.test_ode.LoadEnv (pid=7648): ('data/lab1.env.xml',), {}
2017-10-13 12:04:39,416 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 12 value is not in limits 3.100000e-01<3.050000e-01
noseplugins.multiprocess 2017-10-13 12:04:39,432: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:39,433: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_constraintpr2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:39,433: DEBUG batch result is ('test_planning.test_ode.test_constraintpr2 ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3bcb0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 93, in test_constraintpr2\n    robot.SetDOFValues(manip.FindIKSolution(T,IkFilterOptions.CheckEnvCollisions),manip.GetArmIndices())\nopenrave_exception: openrave (Failed): [virtual bool OpenRAVE::RobotBase::Manipulator::FindIKSolution(const OpenRAVE::IkParameterization&, const std::vector<double>&, std::vector<double>&, int) const:194] (!!pIkSolver) failed manipulator pr2:leftarm_torso does not have an IK solver set\n')], {})
test_planning.test_ode.test_constraintpr2 ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:39,433: DEBUG Ran 1 tests (total: 79)
noseplugins.multiprocess 2017-10-13 12:04:39,433: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:39,449: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:39,458: DEBUG Waiting for results (95/178 tasks), next timeout=971.986s
noseplugins.multiprocess 2017-10-13 12:04:39,468: DEBUG Worker 7 executing, pid=7658
noseplugins.multiprocess 2017-10-13 12:04:39,469: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_ikplanning (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:39,469: DEBUG suite 139783299538128 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c5a0>
2017-10-13 12:04:39,470 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:39,509 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:39,510: DEBUG suite 139783299538832 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c640>
openravepytest.test_ode.LoadEnv (pid=7658): ('data/lab1.env.xml',), {}
2017-10-13 12:04:39,610 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:39,610 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:39,610 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:39,610 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:39,610 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7638): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7638): found 3-intersection centered on index 5
2017-10-13 12:04:40,413 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:40,413 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:40,413 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:40,413 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:40,413 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:40,630 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 9 value is not in limits -1.906893e-08<0.000000e+00
noseplugins.multiprocess 2017-10-13 12:04:40,632: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:40,633: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_handgoal_collision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:40,633: DEBUG batch result is ('test_planning.test_ode.test_handgoal_collision ... ok\n', 1, [], [], {})
test_planning.test_ode.test_handgoal_collision ... ok
noseplugins.multiprocess 2017-10-13 12:04:40,634: DEBUG Ran 1 tests (total: 80)
noseplugins.multiprocess 2017-10-13 12:04:40,634: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:40,645: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:40,655: DEBUG Waiting for results (96/178 tasks), next timeout=970.789s
noseplugins.multiprocess 2017-10-13 12:04:40,665: DEBUG Worker 3 executing, pid=7669
noseplugins.multiprocess 2017-10-13 12:04:40,668: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_invalidactive (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:40,668: DEBUG suite 139783299537040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c3c0>
2017-10-13 12:04:40,669 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:40,705 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:40,705: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c460>
openravepytest.test_ode.LoadEnv (pid=7669): ('data/lab1.env.xml',), {}
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7658): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7658): found 3-intersection centered on index 5
2017-10-13 12:04:40,773 openrave [WARN] [basemanipulation.cpp:815 _MoveToHandPosition] failed to find goal
noseplugins.multiprocess 2017-10-13 12:04:40,776: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:40,777: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_constraintwam(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:40,777: DEBUG batch result is ('test_planning.test_ode.test_constraintwam ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3bf38>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 138, in test_constraintwam\n    traj = basemanip.MoveToHandPosition(matrices=[Tgoal],maxiter=3000,maxtries=1,seedik=40,constraintfreedoms=constraintfreedoms,constraintmatrix=constraintmatrix,constrainttaskmatrix=constrainttaskmatrix,constrainterrorthresh=constrainterrorthresh,steplength=0.002,outputtrajobj=True,execute=False,jitter=0.05)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 232, in MoveToHandPosition\n    raise PlanningError(\'MoveToHandPosition\')\nPlanningError: Planning Error\nMoveToHandPosition\n')], {})
test_planning.test_ode.test_constraintwam ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:40,777: DEBUG Ran 1 tests (total: 81)
noseplugins.multiprocess 2017-10-13 12:04:40,777: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:40,793: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:40,802: DEBUG Waiting for results (97/178 tasks), next timeout=970.642s
noseplugins.multiprocess 2017-10-13 12:04:40,811: DEBUG Worker 5 executing, pid=7679
noseplugins.multiprocess 2017-10-13 12:04:40,813: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_jittertransform (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:40,813: DEBUG suite 139783299536976 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c460>
2017-10-13 12:04:40,814 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:40,847 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:40,848: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c500>
openravepytest.test_ode.LoadEnv (pid=7679): ('data/lab1.env.xml',), {}
openravepytest.test_ode.test_simtime (pid=7600): differences: -5.053132, -5.053133
noseplugins.multiprocess 2017-10-13 12:04:40,963: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:40,964: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py:test_ode.test_simtime(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:40,964: DEBUG batch result is ('test_physics.test_ode.test_simtime ... ok\n', 1, [], [], {})
test_physics.test_ode.test_simtime ... ok
noseplugins.multiprocess 2017-10-13 12:04:40,964: DEBUG Ran 1 tests (total: 82)
noseplugins.multiprocess 2017-10-13 12:04:40,964: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:40,969: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:40,979: DEBUG Waiting for results (98/178 tasks), next timeout=970.466s
noseplugins.multiprocess 2017-10-13 12:04:40,988: DEBUG Worker 2 executing, pid=7690
noseplugins.multiprocess 2017-10-13 12:04:40,989: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_movebase (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:40,989: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:40,990 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:41,025 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:41,025: DEBUG suite 139783299211664 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
noseplugins.multiprocess 2017-10-13 12:04:41,082: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:41,083: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_movebase(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:41,083: DEBUG batch result is ('test_planning.test_ode.test_movebase ... ok\n', 1, [], [], {})
test_planning.test_ode.test_movebase ... ok
noseplugins.multiprocess 2017-10-13 12:04:41,083: DEBUG Ran 1 tests (total: 83)
noseplugins.multiprocess 2017-10-13 12:04:41,083: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:41,088: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:41,097: DEBUG Waiting for results (99/178 tasks), next timeout=970.347s
noseplugins.multiprocess 2017-10-13 12:04:41,107: DEBUG Worker 2 executing, pid=7700
noseplugins.multiprocess 2017-10-13 12:04:41,108: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_movehandstraight (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:41,108: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:41,109 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:41,155 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:41,155: DEBUG suite 139783299211664 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepytest.test_ode.LoadEnv (pid=7700): ('data/lab1.env.xml',), {}
2017-10-13 12:04:41,388 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:41,389 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:41,389 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:41,389 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:41,389 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepytest.test_ode.test_ikplanning (pid=7658): Tee dist=0.000000
noseplugins.multiprocess 2017-10-13 12:04:41,482: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:41,483: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_ikplanning(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:41,483: DEBUG batch result is ('test_planning.test_ode.test_ikplanning ... ok\n', 1, [], [], {})
test_planning.test_ode.test_ikplanning ... ok
noseplugins.multiprocess 2017-10-13 12:04:41,483: DEBUG Ran 1 tests (total: 84)
noseplugins.multiprocess 2017-10-13 12:04:41,483: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:41,499: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:41,510: DEBUG Waiting for results (100/178 tasks), next timeout=969.934s
noseplugins.multiprocess 2017-10-13 12:04:41,533: DEBUG Worker 7 executing, pid=7711
noseplugins.multiprocess 2017-10-13 12:04:41,535: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_movetohandpositiongrab (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:41,535: DEBUG suite 139783299216656 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:41,537 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:41,586 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:41,587: DEBUG suite 139783299217360 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cfa0>
openravepytest.test_ode.LoadEnv (pid=7711): ('data/hanoi_complex2.env.xml',), {}
2017-10-13 12:04:41,670 openrave [WARN] [basemanipulation.cpp:815 _MoveToHandPosition] failed to find goal
noseplugins.multiprocess 2017-10-13 12:04:41,674: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:41,675: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_movetohandpositiongrab(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:41,675: DEBUG batch result is ('test_planning.test_ode.test_movetohandpositiongrab ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3f320>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 270, in test_movetohandpositiongrab\n    out = basemanip.MoveToHandPosition(matrices=[Tgoal],execute=False)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 232, in MoveToHandPosition\n    raise PlanningError(\'MoveToHandPosition\')\nPlanningError: Planning Error\nMoveToHandPosition\n')], {})
test_planning.test_ode.test_movetohandpositiongrab ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:41,675: DEBUG Ran 1 tests (total: 85)
noseplugins.multiprocess 2017-10-13 12:04:41,675: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:41,681: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:41,689: DEBUG Waiting for results (101/178 tasks), next timeout=969.755s
noseplugins.multiprocess 2017-10-13 12:04:41,698: DEBUG Worker 7 executing, pid=7721
noseplugins.multiprocess 2017-10-13 12:04:41,700: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_multipath (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:41,700: DEBUG suite 139783299216656 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf00>
2017-10-13 12:04:41,701 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:41,734 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:41,735: DEBUG suite 139783299217360 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cfa0>
openravepytest.test_ode.LoadEnv (pid=7721): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:42,003: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:04:42,004: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_invalidactive(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:42,004: DEBUG batch result is ('test_planning.test_ode.test_invalidactive ... ok\n', 1, [], [], {})
test_planning.test_ode.test_invalidactive ... ok
noseplugins.multiprocess 2017-10-13 12:04:42,004: DEBUG Ran 1 tests (total: 86)
noseplugins.multiprocess 2017-10-13 12:04:42,004: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:04:42,012: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:04:42,020: DEBUG Waiting for results (102/178 tasks), next timeout=969.424s
noseplugins.multiprocess 2017-10-13 12:04:42,031: DEBUG Worker 3 executing, pid=7731
noseplugins.multiprocess 2017-10-13 12:04:42,033: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_navigationmanip (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:42,033: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:42,034 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:42,101 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:42,103: DEBUG suite 139783299211664 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepytest.test_ode.LoadEnv (pid=7731): ('data/pr2test2.env.xml',), {}
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7700): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7700): found 3-intersection centered on index 5
2017-10-13 12:04:42,572 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:42,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:42,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:42,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:42,572 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:42,636: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:04:42,637: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_jittertransform(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:42,637: DEBUG batch result is ('test_planning.test_ode.test_jittertransform ... ok\n', 1, [], [], {})
test_planning.test_ode.test_jittertransform ... ok
noseplugins.multiprocess 2017-10-13 12:04:42,637: DEBUG Ran 1 tests (total: 87)
noseplugins.multiprocess 2017-10-13 12:04:42,637: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:04:42,644: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:04:42,653: DEBUG Waiting for results (103/178 tasks), next timeout=968.792s
noseplugins.multiprocess 2017-10-13 12:04:42,662: DEBUG Worker 5 executing, pid=7741
noseplugins.multiprocess 2017-10-13 12:04:42,663: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_planwithcollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:42,664: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:42,666 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:42,710 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:42,710: DEBUG suite 139783299211664 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepytest.test_ode.LoadEnv (pid=7741): ('data/pr2test1.env.xml',), {}
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7721): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7721): found 3-intersection centered on index 5
openravepytest.test_ode.LoadEnv (pid=7700): ('data/puma_tabletop.env.xml',), {}
2017-10-13 12:04:43,812 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:43,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:43,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:43,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:43,812 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:43,929 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 1.110223e-16<1.150000e-02
2017-10-13 12:04:43,929 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:43,929 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:43,929 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:43,929 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:43,965 openrave [WARN] [basemanipulation.cpp:272 MoveHandStraight] maxsteps is not positive
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7731): found 3-intersection centered on index 18
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7731): found 3-intersection centered on index 20
openravepy.databases.inversekinematics.generate (pid=7731): Generating inverse kinematics for manip leftarm_torso: Transform6D [15, 16, 18, 19, 20, 21], precision=None, maxcasedepth=3 (this might take up to 10 min)
openravepy.databases.inversekinematics.generate (pid=7731): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.72948cfc3ff77d3858ae895ad25226f4/ikfast0x1000004a.Transform6D.15_16_18_19_20_21_f12_17.cpp
noseplugins.multiprocess 2017-10-13 12:04:44,065: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:44,065: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_movehandstraight(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:44,065: DEBUG batch result is ('test_planning.test_ode.test_movehandstraight ... ok\n', 1, [], [], {})
test_planning.test_ode.test_movehandstraight ... ok
noseplugins.multiprocess 2017-10-13 12:04:44,065: DEBUG Ran 1 tests (total: 88)
noseplugins.multiprocess 2017-10-13 12:04:44,065: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:44,072: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:44,081: DEBUG Waiting for results (104/178 tasks), next timeout=967.363s
noseplugins.multiprocess 2017-10-13 12:04:44,091: DEBUG Worker 2 executing, pid=7751
noseplugins.multiprocess 2017-10-13 12:04:44,092: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_releasefingers (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:44,092: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:44,093 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:44,125 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:44,126: DEBUG suite 139783299211600 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepytest.test_ode.LoadEnv (pid=7751): ('data/katanatable.env.xml',), {}
openravepy.ikfast.forwardKinematicsChain (pid=7731): moved translation Matrix([[0, 0, 0]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=7731): moved translation Matrix([[0, 47/250, 0]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=7731): moved translation on intersecting axis Matrix([[0, 0, 321/1000]]) to left
openravepy.ikfast.generateIkSolver (pid=7731): [[1, 0, 0, -1/20],[0, 1, 0, 47/250],[0, 0, 1, 29587/40000]]
openravepy.ikfast.generateIkSolver (pid=7731): [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, j12]]
openravepy.ikfast.generateIkSolver (pid=7731): [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[cos(j15), -sin(j15), 0, 0],[sin(j15), cos(j15), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[1, 0, 0, 1/10],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[cos(j16), -sin(j16), 0, 0],[sin(j16), cos(j16), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[cos(j17), -sin(j17), 0, 0],[sin(j17), cos(j17), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 2/5]]
openravepy.ikfast.generateIkSolver (pid=7731): [[cos(j18), -sin(j18), 0, 0],[sin(j18), cos(j18), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[0, 0, 1, 321/1000],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[cos(j19), -sin(j19), 0, 0],[sin(j19), cos(j19), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[cos(j20), -sin(j20), 0, 0],[sin(j20), cos(j20), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[cos(j21), -sin(j21), 0, 0],[sin(j21), cos(j21), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7731): [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]]
2017-10-13 12:04:44,499 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:44,499 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:44,499 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:44,499 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:44,499 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7741): found 3-intersection centered on index 30
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7741): found 3-intersection centered on index 32
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7741): found 3-intersection centered on index 30
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7741): found 3-intersection centered on index 32
openravepy.databases.inversekinematics.generate (pid=7741): Generating inverse kinematics for manip rightarm: Transform6D [27, 28, 30, 31, 32, 33], precision=None, maxcasedepth=3 (this might take up to 10 min)
openravepy.databases.inversekinematics.generate (pid=7741): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.f720334422c04aa0c3fc731126ce5f95/ikfast0x1000004a.Transform6D.27_28_30_31_32_33_f29.cpp
2017-10-13 12:04:44,765 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,765 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,767 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,770 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,771 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,773 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,775 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,776 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,777 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,777 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,778 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,778 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,778 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,779 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,779 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,779 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:44,779 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
openravepy.ikfast.forwardKinematicsChain (pid=7741): moved translation Matrix([[0, 0, 0]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=7741): moved translation Matrix([[0, 0, 0]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=7741): moved translation on intersecting axis Matrix([[0, 0, 321/1000]]) to left
openravepy.ikfast.generateIkSolver (pid=7741): [[1, 0, 0, 0],[0, 1, 0, -47/250],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[cos(j27), -sin(j27), 0, 0],[sin(j27), cos(j27), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[1, 0, 0, 1/10],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[cos(j28), -sin(j28), 0, 0],[sin(j28), cos(j28), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[cos(j29), -sin(j29), 0, 0],[sin(j29), cos(j29), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 2/5]]
openravepy.ikfast.generateIkSolver (pid=7741): [[cos(j30), -sin(j30), 0, 0],[sin(j30), cos(j30), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[0, 0, 1, 321/1000],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[cos(j31), -sin(j31), 0, 0],[sin(j31), cos(j31), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[cos(j32), -sin(j32), 0, 0],[sin(j32), cos(j32), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[cos(j33), -sin(j33), 0, 0],[sin(j33), cos(j33), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=7741): [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]]
noseplugins.multiprocess 2017-10-13 12:04:44,959: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:44,959: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_releasefingers(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:44,960: DEBUG batch result is ('test_planning.test_ode.test_releasefingers ... ok\n', 1, [], [], {})
test_planning.test_ode.test_releasefingers ... ok
noseplugins.multiprocess 2017-10-13 12:04:44,960: DEBUG Ran 1 tests (total: 89)
noseplugins.multiprocess 2017-10-13 12:04:44,960: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:44,978: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:44,994: DEBUG Waiting for results (105/178 tasks), next timeout=966.450s
noseplugins.multiprocess 2017-10-13 12:04:45,027: DEBUG Worker 2 executing, pid=7761
noseplugins.multiprocess 2017-10-13 12:04:45,029: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_releasefingerscollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:45,029: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3c960>
2017-10-13 12:04:45,030 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:45,098 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:45,100: DEBUG suite 139783299211600 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepytest.test_ode.LoadEnv (pid=7761): ('data/lab1.env.xml',), {}
2017-10-13 12:04:45,141 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:45,142 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:45,142 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:45,142 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:45,142 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:46,473 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:46,473 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:46,473 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:46,473 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:46,473 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:46,743 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 7 value is not in limits -4.300000e-01<0.000000e+00
2017-10-13 12:04:46,743 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 8 value is not in limits -4.300000e-01<0.000000e+00
2017-10-13 12:04:46,743 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 9 value is not in limits -4.300000e-01<0.000000e+00
2017-10-13 12:04:46,743 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 10 value is not in limits -4.300000e-01<-1.745329e-02
noseplugins.multiprocess 2017-10-13 12:04:46,924: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:46,925: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_releasefingerscollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:46,925: DEBUG batch result is ('test_planning.test_ode.test_releasefingerscollision ... ok\n', 1, [], [], {})
test_planning.test_ode.test_releasefingerscollision ... ok
noseplugins.multiprocess 2017-10-13 12:04:46,925: DEBUG Ran 1 tests (total: 90)
noseplugins.multiprocess 2017-10-13 12:04:46,925: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:46,939: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:46,948: DEBUG Waiting for results (106/178 tasks), next timeout=964.496s
noseplugins.multiprocess 2017-10-13 12:04:46,963: DEBUG Worker 2 executing, pid=7771
noseplugins.multiprocess 2017-10-13 12:04:46,965: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_wamgraspfromcollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:46,965: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:46,967 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:47,027 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:47,028: DEBUG suite 139783299211600 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepytest.test_ode.LoadEnv (pid=7771): ('data/lab1.env.xml',), {}
2017-10-13 12:04:47,752 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:47,752 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:47,752 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:47,752 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:47,752 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7771): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7771): found 3-intersection centered on index 5
2017-10-13 12:04:48,875 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:48,875 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:48,875 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:48,875 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:48,875 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepy.ikfast.buildRaghavanRothEquations (pid=7197): computed in 11.330516s
2017-10-13 12:04:50,245 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:50,245 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:50,245 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:50,245 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:50,245 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:51,462: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:51,463: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_wamgraspfromcollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:51,463: DEBUG batch result is ('test_planning.test_ode.test_wamgraspfromcollision ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3f8c0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 179, in test_wamgraspfromcollision\n    traj = basemanip.MoveManipulator(orgvalues,outputtrajobj=True,execute=False,jitter=0.05)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 121, in MoveManipulator\n    return self._MoveJoints(\'MoveManipulator\',goal=goal,steplength=steplength,maxiter=maxiter,maxtries=maxtries,execute=execute,outputtraj=outputtraj,goals=goals,outputtrajobj=outputtrajobj,jitter=jitter,releasegil=releasegil)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 164, in _MoveJoints\n    res = self.prob.SendCommand(cmd,releasegil=releasegil)\nopenrave_exception: openrave (Assert): [size_t OpenRAVE::planningutils::InsertActiveDOFWaypointWithRetiming(int, const std::vector<double>&, const std::vector<double>&, OpenRAVE::TrajectoryBasePtr, OpenRAVE::RobotBasePtr, OpenRAVE::dReal, OpenRAVE::dReal, const string&, const string&):1324] env=1 failed to retime init traj\n')], {})
test_planning.test_ode.test_wamgraspfromcollision ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:51,463: DEBUG Ran 1 tests (total: 91)
noseplugins.multiprocess 2017-10-13 12:04:51,463: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:51,471: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:51,480: DEBUG Waiting for results (107/178 tasks), next timeout=959.965s
noseplugins.multiprocess 2017-10-13 12:04:51,489: DEBUG Worker 2 executing, pid=7782
noseplugins.multiprocess 2017-10-13 12:04:51,490: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_wamtaskplanwithgoal (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:51,491: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
2017-10-13 12:04:51,491 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:51,525 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:51,526: DEBUG suite 139783299211664 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepytest.test_ode.LoadEnv (pid=7782): ('data/lab1.env.xml',), {}
2017-10-13 12:04:51,583 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:51,583 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:51,584 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:51,584 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:51,584 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7782): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=7782): found 3-intersection centered on index 5
2017-10-13 12:04:52,806 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:52,806 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:52,807 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:52,807 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:52,807 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:04:53,043: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:53,044: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_wamtaskplanwithgoal(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:53,044: DEBUG batch result is ('test_planning.test_ode.test_wamtaskplanwithgoal ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3f9e0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 455, in test_wamtaskplanwithgoal\n    dests = ComputeDestinations(gmodel.target,env.GetKinBody(\'table\'))\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 423, in ComputeDestinations\n    X = r_[X, tile((x+1)/(Nx+1),Ny)]\n  File "/usr/lib64/python2.7/site-packages/numpy/lib/shape_base.py", line 881, in tile\n    return c.reshape(shape_out)\nTypeError: \'numpy.float64\' object cannot be interpreted as an index\n')], {})
test_planning.test_ode.test_wamtaskplanwithgoal ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:53,044: DEBUG Ran 1 tests (total: 92)
noseplugins.multiprocess 2017-10-13 12:04:53,044: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:53,051: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:53,060: DEBUG Waiting for results (108/178 tasks), next timeout=958.384s
noseplugins.multiprocess 2017-10-13 12:04:53,070: DEBUG Worker 2 executing, pid=7792
noseplugins.multiprocess 2017-10-13 12:04:53,071: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_cppexamples (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:53,071: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
2017-10-13 12:04:53,072 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:53,106 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:53,106: DEBUG suite 139783299215632 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc30>
CMake Error: The source directory "/home/thofmann/rpmbuild/BUILD/src/cppexamples" does not exist.
Specify --help for usage, or press the help button on the CMake GUI.
noseplugins.multiprocess 2017-10-13 12:04:53,198: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:53,199: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_cppexamples(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:53,199: DEBUG batch result is ('test_programs.test_cppexamples ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3fab8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py", line 139, in test_cppexamples\n    programdir = CompileProject(os.path.join(\'..\',\'src\',\'cppexamples\'))\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py", line 98, in CompileProject\n    assert(os.system(\'cmake %s %s\'%(cmakeoptions,cmakedir)) == 0)\nAssertionError: \n    <module \'os\' from \'/usr/lib64/python2.7/os.pyc\'>.chdir(\'cppexamples_build\')\n>>  assert(<module \'os\' from \'/usr/lib64/python2.7/os.pyc\'>.system(\'cmake %s %s\'%(\'\',\'/home/thofmann/rpmbuild/BUILD/src/cppexamples\')) == 0)\n    assert(<module \'os\' from \'/usr/lib64/python2.7/os.pyc\'>.system(\'make \') == 0)\n    <module \'os\' from \'/usr/lib64/python2.7/os.pyc\'>.chdir(\'/home/thofmann/rpmbuild/BUILD/openrave-0.9.0\')\n    \n')], [], {})
test_programs.test_cppexamples ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:53,199: DEBUG Ran 1 tests (total: 93)
noseplugins.multiprocess 2017-10-13 12:04:53,199: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:53,205: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:53,213: DEBUG Waiting for results (109/178 tasks), next timeout=958.231s
noseplugins.multiprocess 2017-10-13 12:04:53,223: DEBUG Worker 2 executing, pid=7801
noseplugins.multiprocess 2017-10-13 12:04:53,224: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_cppgeometry_standalone (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:53,224: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cbe0>
2017-10-13 12:04:53,225 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:53,260 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:53,260: DEBUG suite 139783299215696 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc80>
-- The C compiler identification is GNU 7.2.1
-- The CXX compiler identification is GNU 7.2.1
-- Check for working C compiler: /usr/lib64/ccache/cc
-- Check for working C compiler: /usr/lib64/ccache/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/lib64/ccache/c++
-- Check for working CXX compiler: /usr/lib64/ccache/c++ -- works
-- Detecting CXX compiler ABI info
2017-10-13 12:04:54,031 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:54,031 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:54,031 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:54,031 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:54,031 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
noseplugins.multiprocess 2017-10-13 12:04:54,241: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:54,242: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_multipath(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:54,242: DEBUG batch result is ('test_planning.test_ode.test_multipath ... ok\n', 1, [], [], {})
test_planning.test_ode.test_multipath ... ok
noseplugins.multiprocess 2017-10-13 12:04:54,242: DEBUG Ran 1 tests (total: 94)
noseplugins.multiprocess 2017-10-13 12:04:54,242: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:54,249: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:54,259: DEBUG Waiting for results (110/178 tasks), next timeout=957.186s
noseplugins.multiprocess 2017-10-13 12:04:54,268: DEBUG Worker 7 executing, pid=7902
noseplugins.multiprocess 2017-10-13 12:04:54,269: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_cpputils_standalone (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:54,270: DEBUG suite 139783299224848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
2017-10-13 12:04:54,270 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:54,306 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:54,306: DEBUG suite 139783299225488 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
-- The C compiler identification is GNU 7.2.1
-- The CXX compiler identification is GNU 7.2.1
-- Check for working C compiler: /usr/lib64/ccache/cc
-- Check for working C compiler: /usr/lib64/ccache/cc -- works
-- Detecting C compiler ABI info
-- Detecting CXX compile features - done
-- Boost version: 1.63.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/testgeometry/build
-- Detecting C compiler ABI info - done
-- Detecting C compile features
Scanning dependencies of target testgeometry
[ 50%] Building CXX object CMakeFiles/testgeometry.dir/testgeometry.cpp.o
openravepy.ikfast.buildRaghavanRothEquations (pid=7209): computed in 12.325615s
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/lib64/ccache/c++
-- Check for working CXX compiler: /usr/lib64/ccache/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
[100%] Linking CXX executable testgeometry
-- Detecting CXX compile features
openravepytest.TestKinematics.LoadEnv (pid=7302): ('data/hanoi_complex.env.xml', {'skipgeometry': '1'}), {}
[100%] Built target testgeometry
noseplugins.multiprocess 2017-10-13 12:04:55,337: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:55,338: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_cppgeometry_standalone(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:55,338: DEBUG batch result is ('test_programs.test_cppgeometry_standalone ... ok\n', 1, [], [], {})
test_programs.test_cppgeometry_standalone ... ok
noseplugins.multiprocess 2017-10-13 12:04:55,338: DEBUG Ran 1 tests (total: 95)
noseplugins.multiprocess 2017-10-13 12:04:55,338: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:55,354: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:55,363: DEBUG Waiting for results (111/178 tasks), next timeout=956.082s
noseplugins.multiprocess 2017-10-13 12:04:55,386: DEBUG Worker 2 executing, pid=8046
noseplugins.multiprocess 2017-10-13 12:04:55,388: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_createplugin (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:55,388: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cbe0>
2017-10-13 12:04:55,389 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:55,448 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:55,448: DEBUG suite 139783299219728 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_programs>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cc80>
sh: openrave-createplugin.py: command not found
noseplugins.multiprocess 2017-10-13 12:04:55,459: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:55,460: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_createplugin(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:55,460: DEBUG batch result is ('test_programs.test_createplugin ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e3fe18>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py", line 181, in test_createplugin\n    shutil.rmtree(\'myplugin\')\n  File "/usr/lib64/python2.7/shutil.py", line 239, in rmtree\n    onerror(os.listdir, path, sys.exc_info())\n  File "/usr/lib64/python2.7/shutil.py", line 237, in rmtree\n    names = os.listdir(path)\nOSError: [Errno 2] No such file or directory: \'myplugin\'\n')], {})
test_programs.test_createplugin ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:55,460: DEBUG Ran 1 tests (total: 96)
noseplugins.multiprocess 2017-10-13 12:04:55,460: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:55,466: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:55,476: DEBUG Waiting for results (112/178 tasks), next timeout=955.969s
noseplugins.multiprocess 2017-10-13 12:04:55,486: DEBUG Worker 2 executing, pid=8061
noseplugins.multiprocess 2017-10-13 12:04:55,487: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_badtrajectory (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:55,487: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:04:55,488 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:55,523 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:55,524: DEBUG suite 139783299219856 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepytest.test_ode.test_badtrajectory (pid=8061): create a discontinuous trajectory and check if robot throws exception
openravepytest.test_ode.LoadRobot (pid=8061): ('robots/mitsubishi-pa10.zae',), {}
-- Detecting CXX compile features - done
-- Boost version: 1.63.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/testutils/build
Scanning dependencies of target testutils
[ 50%] Building CXX object CMakeFiles/testutils.dir/testutils.cpp.o
noseplugins.multiprocess 2017-10-13 12:04:55,952: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:04:55,953: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_badtrajectory(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:55,953: DEBUG batch result is ('test_robot.test_ode.test_badtrajectory ... ok\n', 1, [], [], {})
test_robot.test_ode.test_badtrajectory ... ok
noseplugins.multiprocess 2017-10-13 12:04:55,953: DEBUG Ran 1 tests (total: 97)
noseplugins.multiprocess 2017-10-13 12:04:55,953: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:04:55,961: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:04:55,970: DEBUG Waiting for results (113/178 tasks), next timeout=955.474s
noseplugins.multiprocess 2017-10-13 12:04:55,981: DEBUG Worker 2 executing, pid=8102
noseplugins.multiprocess 2017-10-13 12:04:55,982: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_basic (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:55,982: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:04:55,983 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:56,019 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:56,020: DEBUG suite 139783299219792 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepytest.test_ode.LoadRobot (pid=8102): ('robots/pr2-beta-static.zae',), {}
openravepy.ikfast.solveFullIK_6D (pid=7741): ikfast 6d: [j27, j28, j30, j31, j32, j33]
noseplugins.multiprocess 2017-10-13 12:04:56,252: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:56,252: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_basicplanning(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:56,252: DEBUG batch result is ('test_planning.test_ode.test_basicplanning ... ok\n', 1, [], [], {})
test_planning.test_ode.test_basicplanning ... ok
noseplugins.multiprocess 2017-10-13 12:04:56,253: DEBUG Ran 1 tests (total: 98)
noseplugins.multiprocess 2017-10-13 12:04:56,253: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:56,263: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:56,272: DEBUG Waiting for results (114/178 tasks), next timeout=955.172s
openravepy.ikfast.iterateThreeIntersectingAxes (pid=7741): found 3 consecutive intersecting axes links[8:13], rotvars=[j31, j32, j33], translationvars=[j27, j28, j30]
noseplugins.multiprocess 2017-10-13 12:04:56,281: DEBUG Worker 4 executing, pid=8112
noseplugins.multiprocess 2017-10-13 12:04:56,283: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_bigrange (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:56,283: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:04:56,284 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:56,318 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:56,319: DEBUG suite 139783299219856 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepytest.test_ode.LoadRobot (pid=8112): ('robots/kuka-kr5-r650.zae',), {}
2017-10-13 12:04:56,320 openrave [WARN] [libopenrave.cpp:799 __cxx11::string OpenRAVE::RaveGlobal::FindLocalFile] could not find file "robots/kuka-kr5-r650.zae"
noseplugins.multiprocess 2017-10-13 12:04:56,322: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:04:56,323: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_bigrange(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:56,323: DEBUG batch result is ('test_robot.test_ode.test_bigrange ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e42368>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 416, in test_bigrange\n    robot=self.LoadRobot(\'robots/kuka-kr5-r650.zae\')\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 146, in LoadRobot\n    self.env.Add(robot,True)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0\n')], {})
test_robot.test_ode.test_bigrange ... ERROR
noseplugins.multiprocess 2017-10-13 12:04:56,323: DEBUG Ran 1 tests (total: 99)
noseplugins.multiprocess 2017-10-13 12:04:56,323: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:04:56,328: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:04:56,337: DEBUG Waiting for results (115/178 tasks), next timeout=955.107s
noseplugins.multiprocess 2017-10-13 12:04:56,347: DEBUG Worker 4 executing, pid=8122
noseplugins.multiprocess 2017-10-13 12:04:56,348: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_checkendeffector (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:56,348: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:04:56,349 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:56,383 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:56,384: DEBUG suite 139783299219856 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepytest.test_ode.test_checkendeffector (pid=8122): test if can check end effector collisions with ik params
openravepytest.test_ode.LoadEnv (pid=8122): ('data/katanatable.env.xml',), {}
2017-10-13 12:04:57,138 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,138 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,140 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,142 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,142 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,144 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,146 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,148 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,148 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,149 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,149 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,149 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,149 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,150 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,151 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,151 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:57,151 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:04:57,234: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:57,235: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py:TestKinematics.test_bodybasic(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:57,235: DEBUG batch result is ('test_kinematics.TestKinematics.test_bodybasic ... ok\n', 1, [], [], {})
test_kinematics.TestKinematics.test_bodybasic ... ok
noseplugins.multiprocess 2017-10-13 12:04:57,235: DEBUG Ran 1 tests (total: 100)
noseplugins.multiprocess 2017-10-13 12:04:57,235: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:57,249: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:57,259: DEBUG Waiting for results (116/178 tasks), next timeout=954.186s
noseplugins.multiprocess 2017-10-13 12:04:57,268: DEBUG Worker 0 executing, pid=8134
noseplugins.multiprocess 2017-10-13 12:04:57,270: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_cloneselfcollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:57,270: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:04:57,271 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:57,309 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:57,309: DEBUG suite 139783299219856 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepy.databases.inversekinematics.generate (pid=8122): Generating inverse kinematics for manip arm: Translation3D [0, 1, 2], precision=None, maxcasedepth=3 (this might take up to 10 min)
openravepytest.test_ode.LoadRobot (pid=8134): ('robots/barrettwam.robot.xml',), {}
openravepy.databases.inversekinematics.generate (pid=8122): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.055c5a01f11b176539963fbcda6c1061/ikfast0x1000004a.Translation3D.0_1_2_f3_4.cpp
openravepy.ikfast.forwardKinematicsChain (pid=8122): moved translation Matrix([[0, 0, 3/25]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=8122): moved translation Matrix([[0, 0, -133/2000]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=8122): moved translation on intersecting axis Matrix([[0, 0, 0]]) to left
openravepy.ikfast.generateIkSolver (pid=8122): [[1, 0, 0, 0],[0, -1, 0, 0],[0, 0, -1, 403/2000]]
openravepy.ikfast.generateIkSolver (pid=8122): [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[1, 0, 0, 0],[0, 1, 0, -19/100],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[1, 0, 0, 0],[0, -1, 0, -139/1000],[0, 0, -1, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8122): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 183/1000]]
[100%] Linking CXX executable testutils
openravepy.ikfast.solveFullIK_6D (pid=7731): ikfast 6d: [j15, j16, j18, j19, j20, j21]
2017-10-13 12:04:57,799 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:04:57,799 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:57,799 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:04:57,799 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:04:57,799 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
openravepytest.test_ode.LoadRobot (pid=8102): ('robots/barrettsegway.robot.xml',), {}
[100%] Built target testutils
0.5
585d5fa1c80636591b4c0ef434101374
noseplugins.multiprocess 2017-10-13 12:04:57,980: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:57,981: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py:test_cpputils_standalone(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:57,981: DEBUG batch result is ('test_programs.test_cpputils_standalone ... ok\n', 1, [], [], {})
test_programs.test_cpputils_standalone ... ok
noseplugins.multiprocess 2017-10-13 12:04:57,981: DEBUG Ran 1 tests (total: 101)
noseplugins.multiprocess 2017-10-13 12:04:57,981: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:58,000: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:58,014: DEBUG Waiting for results (117/178 tasks), next timeout=953.430s
noseplugins.multiprocess 2017-10-13 12:04:58,030: DEBUG Worker 7 executing, pid=8152
noseplugins.multiprocess 2017-10-13 12:04:58,031: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_collisionmaprobot (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:58,031: DEBUG suite 139783299224848 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cfa0>
2017-10-13 12:04:58,032 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
openravepy.ikfast.iterateThreeIntersectingAxes (pid=7731): found 3 consecutive intersecting axes links[8:13], rotvars=[j19, j20, j21], translationvars=[j15, j16, j18]
2017-10-13 12:04:58,090 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:58,091: DEBUG suite 139783299225552 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5b0a0>
openravepytest.test_ode.LoadDataEnv (pid=8152): LoadDataEnv
openravepytest.test_ode.LoadRobot (pid=8152): ('robots/collisionmap.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:58,097: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:58,098: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_collisionmaprobot(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:58,098: DEBUG batch result is ('test_robot.test_ode.test_collisionmaprobot ... ok\n', 1, [], [], {})
test_robot.test_ode.test_collisionmaprobot ... ok
noseplugins.multiprocess 2017-10-13 12:04:58,098: DEBUG Ran 1 tests (total: 102)
noseplugins.multiprocess 2017-10-13 12:04:58,098: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:58,116: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:58,129: DEBUG Waiting for results (118/178 tasks), next timeout=953.315s
noseplugins.multiprocess 2017-10-13 12:04:58,141: DEBUG Worker 7 executing, pid=8162
noseplugins.multiprocess 2017-10-13 12:04:58,142: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_distancechecking (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:58,142: DEBUG suite 139783299228944 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cfa0>
2017-10-13 12:04:58,143 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:58,186 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:58,187: DEBUG suite 139783299229648 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5b0a0>
openravepytest.test_ode.LoadRobot (pid=8162): ('robots/barrettwam.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:58,384: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:58,385: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_cloneselfcollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:58,385: DEBUG batch result is ('test_robot.test_ode.test_cloneselfcollision ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e42830>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 633, in test_cloneselfcollision\n    assert cloned_robot.CheckSelfCollision() # fails\nAssertionError: \n    assert RaveGetEnvironment(1).GetRobot(\'BarrettWAM\').CheckSelfCollision() # succeeds\n>>  assert RaveGetEnvironment(1).GetRobot(\'BarrettWAM0\').CheckSelfCollision() # fails\n    \n')], [], {})
test_robot.test_ode.test_cloneselfcollision ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:58,385: DEBUG Ran 1 tests (total: 103)
noseplugins.multiprocess 2017-10-13 12:04:58,385: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:58,393: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:58,402: DEBUG Waiting for results (119/178 tasks), next timeout=953.043s
noseplugins.multiprocess 2017-10-13 12:04:58,412: DEBUG Worker 0 executing, pid=8172
noseplugins.multiprocess 2017-10-13 12:04:58,413: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_dualarm_grabbing (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:58,413: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
2017-10-13 12:04:58,414 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:58,449 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:58,450: DEBUG suite 139783299223952 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
openravepytest.test_ode.LoadRobot (pid=8172): ('robots/schunk-lwa3-dual.robot.xml',), {}
openravepytest.test_ode.LoadRobot (pid=8102): ('robots/neuronics-katana.zae',), {}
openravepy.ikfast.SolveAllEquations (pid=7741): depth=0 c=1, [j29] [j27, j28, j30]: cases=None
noseplugins.multiprocess 2017-10-13 12:04:58,959: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:04:58,960: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_dualarm_grabbing(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:58,960: DEBUG batch result is ('test_robot.test_ode.test_dualarm_grabbing ... ok\n', 1, [], [], {})
test_robot.test_ode.test_dualarm_grabbing ... ok
noseplugins.multiprocess 2017-10-13 12:04:58,960: DEBUG Ran 1 tests (total: 104)
noseplugins.multiprocess 2017-10-13 12:04:58,960: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:04:58,966: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:04:58,975: DEBUG Waiting for results (120/178 tasks), next timeout=952.470s
noseplugins.multiprocess 2017-10-13 12:04:58,984: DEBUG Worker 0 executing, pid=8182
noseplugins.multiprocess 2017-10-13 12:04:58,986: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_getlinkjointinfo (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:58,986: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
2017-10-13 12:04:58,987 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:59,021 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:59,022: DEBUG suite 139783299223952 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
openravepytest.test_ode.LoadRobot (pid=8182): ('robots/barrettwam.robot.xml',), {}
2017-10-13 12:04:59,518 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,518 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,519 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,521 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,521 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,523 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,524 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,526 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,526 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,526 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,527 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,527 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,527 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,528 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,528 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,528 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:04:59,528 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:04:59,628: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:04:59,629: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_distancechecking(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:04:59,629: DEBUG batch result is ('test_robot.test_ode.test_distancechecking ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e42a70>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 608, in test_distancechecking\n    assert(abs(report.minDistance - 0.22146797060110873) <= 1e-7)\nAssertionError: \n    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.collisionchecker,\'pqp\').CheckCollision(RaveGetEnvironment(1).GetRobot(\'BarrettWAM\'),<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>=<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>)\n    assert(abs(<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>.minDistance - 0.02014762095143412) <= 1e-7)\n    RaveGetEnvironment(1).GetRobot(\'BarrettWAM\').CheckSelfCollision(<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>=<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>,collisionchecker=RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.collisionchecker,\'pqp\'))\n>>  assert(abs(<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>.minDistance - 0.22146797060110873) <= 1e-7)\n    \n')], [], {})
test_robot.test_ode.test_distancechecking ... FAIL
noseplugins.multiprocess 2017-10-13 12:04:59,629: DEBUG Ran 1 tests (total: 105)
noseplugins.multiprocess 2017-10-13 12:04:59,629: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:04:59,637: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:04:59,647: DEBUG Waiting for results (121/178 tasks), next timeout=951.798s
openravepytest.test_ode.LoadRobot (pid=8102): ('robots/pa10schunk.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:04:59,656: DEBUG Worker 7 executing, pid=8192
noseplugins.multiprocess 2017-10-13 12:04:59,657: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabcollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:04:59,658: DEBUG suite 139783299228944 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a140>
2017-10-13 12:04:59,658 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:04:59,693 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:04:59,694: DEBUG suite 139783299229648 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a1e0>
openravepytest.test_ode.LoadEnv (pid=8192): ('robots/man1.zae',), {}
openravepy.ikfast._solveFullIK_Translation3D (pid=8122): ikfast translation3d: [j0, j1, j2]
2017-10-13 12:05:00,079 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,079 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,079 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,080 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,080 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,080 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,081 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,081 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,081 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,082 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,082 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,083 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,083 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,084 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,084 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,085 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,085 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,086 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,086 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,087 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,088 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,088 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,089 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,090 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,091 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,092 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,093 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,093 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,094 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,095 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,096 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,096 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,097 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,098 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,099 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,101 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,101 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,101 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,102 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,102 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,103 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,103 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,104 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,105 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,105 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,106 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,107 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,107 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,109 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,110 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,111 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,113 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,114 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,115 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,117 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,118 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,118 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,120 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,121 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,121 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,124 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,124 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,125 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:00,125 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
openravepytest.test_ode.LoadRobot (pid=8102): ('robots/barrettwam-dual.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:00,140: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:00,141: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_getlinkjointinfo(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:00,141: DEBUG batch result is ('test_robot.test_ode.test_getlinkjointinfo ... ok\n', 1, [], [], {})
test_robot.test_ode.test_getlinkjointinfo ... ok
noseplugins.multiprocess 2017-10-13 12:05:00,141: DEBUG Ran 1 tests (total: 106)
noseplugins.multiprocess 2017-10-13 12:05:00,141: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:00,151: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:00,164: DEBUG Waiting for results (122/178 tasks), next timeout=951.280s
noseplugins.multiprocess 2017-10-13 12:05:00,174: DEBUG Worker 0 executing, pid=8204
noseplugins.multiprocess 2017-10-13 12:05:00,176: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabcollision_dynamic (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:00,176: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
2017-10-13 12:05:00,177 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:00,212 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
openravepy.ikfast.SolvePairVariables (pid=7741): equation relies on unsolved variables([sj27, cj30, sj30]): -62500*cj27**2*cj29**2*px**2*sj29**2/(cj29**2 - 1) + 62500*cj27**2*cj29**2*py**2*sj29**2/(cj29**2 - 1) - 937500*cj27**2*px**2*sj29**2/(cj29**2 - 1) + 937500*cj27**2*py**2*sj29**2/(cj29**2 - 1) + 625000*cj27*cj29**2*pp*px*sj29**2/(cj29**2 - 1) - 125000*cj27*cj29**2*px*py*sj27*sj29**2/(cj29**2 - 1) - 1265205*cj27*cj29**2*px*sj29**2/(8*(cj29**2 - 1)) - 625000*cj27*pp*px*sj29**2/(cj29**2 - 1) - 1875000*cj27*px*py*sj27*sj29**2/(cj29**2 - 1) + 1265205*cj27*px*sj29**2/(8*(cj29**2 - 1)) - 1562500*cj29**2*pp**2*sj29**2/(cj29**2 - 1) + 625000*cj29**2*pp*py*sj27*sj29**2/(cj29**2 - 1) + 6326025*cj29**2*pp*sj29**2/(8*(cj29**2 - 1)) - 62500*cj29**2*py**2*sj29**2/(cj29**2 - 1) - 1265205*cj29**2*py*sj27*sj29**2/(8*(cj29**2 - 1)) + 1916492319*cj29**2*sj29**2/(640000*(cj29**2 - 1)) + 1562500*pp**2*sj29**2/(cj29**2 - 1) - 625000*pp*py*sj27*sj29**2/(cj29**2 - 1) - 6326025*pp*sj29**2/(8*(cj29**2 - 1)) + 1000000*px**2*sj29**2/(cj29**2 - 1) + 62500*py**2*sj29**2/(cj29**2 - 1) + 1265205*py*sj27*sj29**2/(8*(cj29**2 - 1)) - 1916492319*sj29**2/(640000*(cj29**2 - 1))
noseplugins.multiprocess 2017-10-13 12:05:00,213: DEBUG suite 139783299223952 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
openravepytest.test_ode.test_grabcollision_dynamic (pid=8204): test if can handle grabbed bodies being enabled/disabled
openravepytest.test_ode.LoadRobot (pid=8204): ('robots/barrettwam.robot.xml',), {}
openravepytest.test_ode.LoadEnv (pid=8192): ('data/mug1.kinbody.xml',), {}
openravepytest.test_ode.LoadEnv (pid=8192): ('data/mug2.kinbody.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:00,480: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:05:00,480: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabcollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:00,480: DEBUG batch result is ('test_robot.test_ode.test_grabcollision ... ok\n', 1, [], [], {})
test_robot.test_ode.test_grabcollision ... ok
noseplugins.multiprocess 2017-10-13 12:05:00,481: DEBUG Ran 1 tests (total: 107)
noseplugins.multiprocess 2017-10-13 12:05:00,481: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:05:00,491: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:05:00,500: DEBUG Waiting for results (123/178 tasks), next timeout=950.945s
noseplugins.multiprocess 2017-10-13 12:05:00,509: DEBUG Worker 7 executing, pid=8214
noseplugins.multiprocess 2017-10-13 12:05:00,510: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabcollision_dynamic2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:00,510: DEBUG suite 139783299237136 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
2017-10-13 12:05:00,511 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:00,543 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:00,544: DEBUG suite 139783299237840 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a1e0>
openravepytest.test_ode.test_grabcollision_dynamic2 (pid=8214): more tests for dynamic bodies and self-collisions
openravepytest.test_ode.LoadRobot (pid=8214): ('robots/barrettwam.robot.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:00,611: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:05:00,611: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_planwithcollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:00,611: DEBUG batch result is ('test_planning.test_ode.test_planwithcollision ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e42dd0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 335, in test_planwithcollision\n    ikmodel.autogenerate()\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate\n    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D\n    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes\n    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes\n    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations\n    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables\n    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle\n    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically\n    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros\n    return Matrix.zeros(*args, **kwargs)\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros\n    rows, cols = as_int(rows), as_int(cols)\n  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int\n    raise ValueError(\'%s is not an integer\' % (n,))\nValueError: (4, 4) is not an integer\n')], {})
test_planning.test_ode.test_planwithcollision ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:00,612: DEBUG Ran 1 tests (total: 108)
noseplugins.multiprocess 2017-10-13 12:05:00,612: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:05:00,623: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:05:00,632: DEBUG Waiting for results (124/178 tasks), next timeout=950.813s
noseplugins.multiprocess 2017-10-13 12:05:00,641: DEBUG Worker 5 executing, pid=8224
noseplugins.multiprocess 2017-10-13 12:05:00,642: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabdynamics (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:00,642: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
2017-10-13 12:05:00,643 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:00,675 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:00,676: DEBUG suite 139783299228048 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
openravepytest.test_ode.test_grabdynamics (pid=8224): test is grabbed bodies have correct
openravepytest.test_ode.LoadRobot (pid=8224): ('robots/pr2-beta-static.zae',), {}
openravepy.ikfast.SolveAllEquations (pid=7731): depth=0 c=1, [j12, j17] [j15, j16, j18]: cases=None
openravepy.ikfast.SolveAllEquations (pid=8122): depth=0 c=1, [j3, j4] [j0, j1, j2]: cases=None
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(py, -px) = Abs(px) + Abs(py) all zeros check
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(py, -px) = Abs(px) + Abs(py) all zeros check
openravepytest.test_ode.test_grabcollision_dynamic (pid=8204): check disabling target
openravepytest.test_ode.test_grabcollision_dynamic (pid=8204): check disabling links
noseplugins.multiprocess 2017-10-13 12:05:01,165: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:01,166: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabcollision_dynamic(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:01,166: DEBUG batch result is ('test_robot.test_ode.test_grabcollision_dynamic ... ok\n', 1, [], [], {})
test_robot.test_ode.test_grabcollision_dynamic ... ok
noseplugins.multiprocess 2017-10-13 12:05:01,166: DEBUG Ran 1 tests (total: 109)
noseplugins.multiprocess 2017-10-13 12:05:01,166: DEBUG joining worker 0
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(5187*cj3/50000 + 2641/50000, 5187*sj3/50000) = 5187*Abs(sj3)/50000 + Abs(5187*cj3/50000 + 2641/50000) all zeros check
noseplugins.multiprocess 2017-10-13 12:05:01,172: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:01,181: DEBUG Waiting for results (125/178 tasks), next timeout=950.263s
noseplugins.multiprocess 2017-10-13 12:05:01,190: DEBUG Worker 0 executing, pid=8234
noseplugins.multiprocess 2017-10-13 12:05:01,191: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_ikcollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:01,192: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
2017-10-13 12:05:01,192 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(5187*cj3/50000 + 2641/50000, 5187*sj3/50000) = 5187*Abs(sj3)/50000 + Abs(5187*cj3/50000 + 2641/50000) all zeros check
2017-10-13 12:05:01,224 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:01,225: DEBUG suite 139783299232144 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
openravepytest.test_ode.test_ikcollision (pid=8234): test if can solve IK during collisions
openravepytest.test_ode.LoadRobot (pid=8234): ('robots/pr2-beta-static.zae',), {}
openravepy.databases.inversekinematics.GetDefaultIndices (pid=8214): found 3-intersection centered on index 1
openravepy.databases.inversekinematics.GetDefaultIndices (pid=8214): found 3-intersection centered on index 5
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(py, -px) = Abs(px) + Abs(py) all zeros check
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(py, -px) = Abs(px) + Abs(py) all zeros check
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(5187*cj3/50000 + 2641/50000, 5187*sj3/50000) = 5187*Abs(sj3)/50000 + Abs(5187*cj3/50000 + 2641/50000) all zeros check
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(5187*cj3/50000 + 2641/50000, 5187*sj3/50000) = 5187*Abs(sj3)/50000 + Abs(5187*cj3/50000 + 2641/50000) all zeros check
openravepy.ikfast.SolveAllEquations (pid=8122): depth=0 c=3, [j3, j4, j2] [j0, j1]: cases=set([])
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(py, -px) = Abs(px) + Abs(py) all zeros check
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(py, -px) = Abs(px) + Abs(py) all zeros check
noseplugins.multiprocess 2017-10-13 12:05:01,845: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:05:01,846: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_basic(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:01,846: DEBUG batch result is ('test_robot.test_ode.test_basic ... ok\n', 1, [], [], {})
test_robot.test_ode.test_basic ... ok
noseplugins.multiprocess 2017-10-13 12:05:01,846: DEBUG Ran 1 tests (total: 110)
noseplugins.multiprocess 2017-10-13 12:05:01,846: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:05:01,857: DEBUG starting new process on worker 2
noseplugins.multiprocess 2017-10-13 12:05:01,866: DEBUG Waiting for results (126/178 tasks), next timeout=949.579s
noseplugins.multiprocess 2017-10-13 12:05:01,875: DEBUG Worker 2 executing, pid=8245
noseplugins.multiprocess 2017-10-13 12:05:01,876: DEBUG Worker 2 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_manipulators (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:01,876: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce60>
2017-10-13 12:05:01,877 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:01,910 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:01,910: DEBUG suite 139783299232144 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf00>
openravepytest.test_ode.LoadRobot (pid=8245): ('robots/pr2-beta-static.zae',), {}
noseplugins.multiprocess 2017-10-13 12:05:01,981: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:05:01,982: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabcollision_dynamic2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:01,982: DEBUG batch result is ('test_robot.test_ode.test_grabcollision_dynamic2 ... ok\n', 1, [], [], {})
test_robot.test_ode.test_grabcollision_dynamic2 ... ok
noseplugins.multiprocess 2017-10-13 12:05:01,982: DEBUG Ran 1 tests (total: 111)
noseplugins.multiprocess 2017-10-13 12:05:01,982: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:05:01,992: DEBUG starting new process on worker 7
openravepy.ikfast.SolvePairVariables (pid=7731): equation relies on unsolved variables([sj15, cj18, sj18]): -62500*cj15**2*cj17**2*px**2*sj17**2/(cj17**2 - 1) + 62500*cj15**2*cj17**2*py**2*sj17**2/(cj17**2 - 1) - 937500*cj15**2*px**2*sj17**2/(cj17**2 - 1) + 937500*cj15**2*py**2*sj17**2/(cj17**2 - 1) + 625000*cj15*cj17**2*pp*px*sj17**2/(cj17**2 - 1) - 125000*cj15*cj17**2*px*py*sj15*sj17**2/(cj17**2 - 1) - 1265205*cj15*cj17**2*px*sj17**2/(8*(cj17**2 - 1)) - 625000*cj15*pp*px*sj17**2/(cj17**2 - 1) - 1875000*cj15*px*py*sj15*sj17**2/(cj17**2 - 1) + 1265205*cj15*px*sj17**2/(8*(cj17**2 - 1)) - 1562500*cj17**2*pp**2*sj17**2/(cj17**2 - 1) + 625000*cj17**2*pp*py*sj15*sj17**2/(cj17**2 - 1) + 6326025*cj17**2*pp*sj17**2/(8*(cj17**2 - 1)) - 62500*cj17**2*py**2*sj17**2/(cj17**2 - 1) - 1265205*cj17**2*py*sj15*sj17**2/(8*(cj17**2 - 1)) + 1916492319*cj17**2*sj17**2/(640000*(cj17**2 - 1)) + 1562500*pp**2*sj17**2/(cj17**2 - 1) - 625000*pp*py*sj15*sj17**2/(cj17**2 - 1) - 6326025*pp*sj17**2/(8*(cj17**2 - 1)) + 1000000*px**2*sj17**2/(cj17**2 - 1) + 62500*py**2*sj17**2/(cj17**2 - 1) + 1265205*py*sj15*sj17**2/(8*(cj17**2 - 1)) - 1916492319*sj17**2/(640000*(cj17**2 - 1))
noseplugins.multiprocess 2017-10-13 12:05:02,001: DEBUG Waiting for results (127/178 tasks), next timeout=949.444s
noseplugins.multiprocess 2017-10-13 12:05:02,010: DEBUG Worker 7 executing, pid=8255
noseplugins.multiprocess 2017-10-13 12:05:02,011: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_quaternionjacobian (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:02,011: DEBUG suite 139783299241232 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c190>
2017-10-13 12:05:02,012 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:02,044 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:02,044: DEBUG suite 139783299241936 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c230>
openravepytest.test_ode.test_quaternionjacobian (pid=8255): test jacobiaquaternions
openravepytest.test_ode.LoadEnv (pid=8255): ('robots/pr2-beta-static.zae',), {}
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(-273*cj2*cj3/1000 - 139*cj2/1000 - 273*sj2*sj3/1000 - 19/100, -273*cj2*sj3/1000 + 273*cj3*sj2/1000 + 139*sj2/1000) = Abs(-273*cj2*sj3/1000 + 273*cj3*sj2/1000 + 139*sj2/1000) + Abs(273*cj2*cj3/1000 + 139*cj2/1000 + 273*sj2*sj3/1000 + 19/100) all zeros check
2017-10-13 12:05:02,318 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:02,318 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:02,318 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:02,318 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:02,318 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:05:02,410: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:02,411: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py:test_ode.test_navigationmanip(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:02,411: DEBUG batch result is ('test_planning.test_ode.test_navigationmanip ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e45200>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 279, in test_navigationmanip\n    ikmodel.autogenerate()\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate\n    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D\n    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes\n    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes\n    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations\n    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables\n    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle\n    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically\n    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros\n    return Matrix.zeros(*args, **kwargs)\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros\n    rows, cols = as_int(rows), as_int(cols)\n  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int\n    raise ValueError(\'%s is not an integer\' % (n,))\nValueError: (4, 4) is not an integer\n')], {})
test_planning.test_ode.test_navigationmanip ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:02,411: DEBUG Ran 1 tests (total: 112)
noseplugins.multiprocess 2017-10-13 12:05:02,411: DEBUG joining worker 3
getIndicesFromJointNames [12, 17] [u'torso_lift_joint', u'l_upper_arm_roll_joint']
noseplugins.multiprocess 2017-10-13 12:05:02,428: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:02,437: DEBUG Waiting for results (128/178 tasks), next timeout=949.008s
noseplugins.multiprocess 2017-10-13 12:05:02,447: DEBUG Worker 3 executing, pid=8265
noseplugins.multiprocess 2017-10-13 12:05:02,448: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py:TestSampling.test_default (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestSampling>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:02,448: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestSampling>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf00>
2017-10-13 12:05:02,449 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
openravepy.ikfast.checkForDivideByZero (pid=8122): adding atan2(-273*cj2*cj3/1000 - 139*cj2/1000 - 273*sj2*sj3/1000 - 19/100, -273*cj2*sj3/1000 + 273*cj3*sj2/1000 + 139*sj2/1000) = Abs(-273*cj2*sj3/1000 + 273*cj3*sj2/1000 + 139*sj2/1000) + Abs(273*cj2*cj3/1000 + 139*cj2/1000 + 273*sj2*sj3/1000 + 19/100) all zeros check
2017-10-13 12:05:02,484 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:02,485: DEBUG suite 139783299240336 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestSampling>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cfa0>
noseplugins.multiprocess 2017-10-13 12:05:02,509: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:05:02,510: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_grabdynamics(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:02,510: DEBUG batch result is ('test_robot.test_ode.test_grabdynamics ... ok\n', 1, [], [], {})
test_robot.test_ode.test_grabdynamics ... ok
noseplugins.multiprocess 2017-10-13 12:05:02,510: DEBUG Ran 1 tests (total: 113)
noseplugins.multiprocess 2017-10-13 12:05:02,510: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:05:02,520: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:05:02,529: DEBUG Waiting for results (129/178 tasks), next timeout=948.916s
noseplugins.multiprocess 2017-10-13 12:05:02,538: DEBUG Worker 5 executing, pid=8275
noseplugins.multiprocess 2017-10-13 12:05:02,539: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py:TestSampling.test_robot (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestSampling>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:02,540: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestSampling>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf00>
2017-10-13 12:05:02,540 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:02,572 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:02,573: DEBUG suite 139783299240336 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestSampling>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cfa0>
openravepytest.TestSampling.LoadEnv (pid=8275): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:02,583: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:02,583: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py:TestSampling.test_default(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:02,583: DEBUG batch result is ('test_sampling.TestSampling.test_default ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e452d8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py", line 47, in test_default\n    self._runsampler(type)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py", line 33, in _runsampler\n    assert(len(closedvalues) == N and all(closedvalues>=lowerN) and all(closedvalues<=upperN))\nAssertionError: \n    array([[ 0.,  0.,  0.,  0.,  0.]]) = tile(array([ 0.,  0.,  0.,  0.,  0.]),(1,1))\n    array([[ 1.,  1.,  1.,  1.,  1.]]) = tile(array([ 1.,  1.,  1.,  1.,  1.]),(1,1))\n    array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788]) = RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.spacesampler,\'MT19937\').SampleSequence(openravepy._openravepy_.openravepy_int.SampleDataType.Real,1,Interval.Closed)\n>>  assert(len(array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788])) == 1 and all(array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788])>=array([[ 0.,  0.,  0.,  0.,  0.]])) and all(array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788])<=array([[ 1.,  1.,  1.,  1.,  1.]])))\n    \n')], [], {})
test_sampling.TestSampling.test_default ... FAIL
noseplugins.multiprocess 2017-10-13 12:05:02,584: DEBUG Ran 1 tests (total: 114)
noseplugins.multiprocess 2017-10-13 12:05:02,584: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:02,590: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:02,599: DEBUG Waiting for results (130/178 tasks), next timeout=948.846s
noseplugins.multiprocess 2017-10-13 12:05:02,609: DEBUG Worker 3 executing, pid=8285
noseplugins.multiprocess 2017-10-13 12:05:02,610: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_affine_smoothing (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:02,610: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:05:02,611 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:02,647 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:02,647: DEBUG suite 139783299240336 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a0a0>
openravepytest.TestTrajectory.LoadRobot (pid=8285): ('robots/barrettwam.robot.xml',), {}
2017-10-13 12:05:02,897 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:02,897 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:02,897 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:02,897 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:02,897 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:03,083 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:03,090 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:03,090 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
noseplugins.multiprocess 2017-10-13 12:05:03,104: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:03,104: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_ikcollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:03,105: DEBUG batch result is ('test_robot.test_ode.test_ikcollision ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e45440>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 263, in test_ikcollision\n    assert(manip.FindIKSolution(Tmanip,IkFilterOptions.CheckEnvCollisions) is not None)\nopenrave_exception: openrave (Failed): [virtual bool OpenRAVE::RobotBase::Manipulator::FindIKSolution(const OpenRAVE::IkParameterization&, const std::vector<double>&, std::vector<double>&, int) const:194] (!!pIkSolver) failed manipulator pr2:leftarm does not have an IK solver set\n')], {})
test_robot.test_ode.test_ikcollision ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:03,105: DEBUG Ran 1 tests (total: 115)
noseplugins.multiprocess 2017-10-13 12:05:03,105: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:03,121: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:03,142: DEBUG Waiting for results (131/178 tasks), next timeout=948.302s
noseplugins.multiprocess 2017-10-13 12:05:03,152: DEBUG Worker 0 executing, pid=8295
noseplugins.multiprocess 2017-10-13 12:05:03,153: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_affinetraj (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:03,154: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a0a0>
2017-10-13 12:05:03,154 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:03,201 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:03,202: DEBUG suite 139783299240272 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a140>
noseplugins.multiprocess 2017-10-13 12:05:03,218: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:03,219: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_affinetraj(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:03,219: DEBUG batch result is ('test_trajectory.TestTrajectory.test_affinetraj ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_affinetraj ... ok
noseplugins.multiprocess 2017-10-13 12:05:03,219: DEBUG Ran 1 tests (total: 116)
noseplugins.multiprocess 2017-10-13 12:05:03,219: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:03,224: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:03,233: DEBUG Waiting for results (132/178 tasks), next timeout=948.211s
noseplugins.multiprocess 2017-10-13 12:05:03,243: DEBUG Worker 0 executing, pid=8305
noseplugins.multiprocess 2017-10-13 12:05:03,244: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_badinterpolation (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:03,244: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
2017-10-13 12:05:03,245 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:03,277 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:03,278: DEBUG suite 139783299240336 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a140>
openravepytest.TestTrajectory.test_badinterpolation (pid=8305): test bad interpolation
openravepytest.TestTrajectory.LoadRobot (pid=8305): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:05:03,545 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:03,545 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:03,545 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:03,545 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:03,545 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:03,651 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,653 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,655 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,656 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
openravepy.databases.inversekinematics.load (pid=8245): Inverse Kinematics Error
ik type is not set
2017-10-13 12:05:03,658 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
openravepy.databases.inversekinematics.GetDefaultIndices (pid=8245): found 3-intersection centered on index 18
openravepy.databases.inversekinematics.GetDefaultIndices (pid=8245): found 3-intersection centered on index 20
openravepy.databases.inversekinematics.generate (pid=8245): Generating inverse kinematics for manip testmanip: Transform6D [15, 16, 18, 19, 20, 21], precision=None, maxcasedepth=3 (this might take up to 10 min)
2017-10-13 12:05:03,660 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
openravepy.databases.inversekinematics.generate (pid=8245): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.9ff4f1d77a61494bbd09f843fedb0314/ikfast0x1000004a.Transform6D.15_16_18_19_20_21_f17.cpp
2017-10-13 12:05:03,662 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,664 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,665 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,667 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,669 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,670 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,672 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,674 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,675 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,677 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,679 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,681 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,682 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:03,682 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:03,682 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:03,682 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:03,682 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:03,682 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,684 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,686 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,687 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,689 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,691 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,693 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,694 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,696 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,698 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,700 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,703 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,705 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,706 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,708 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,710 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,711 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,713 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,715 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,717 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,718 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,720 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,722 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,723 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,725 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,726 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,728 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,730 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,732 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,734 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,735 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,737 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,739 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,741 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,742 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,744 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,746 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,748 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,749 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,751 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:03,788 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 629 steps even after original interpolation is done, timestep=-0.203185
openravepy.ikfast.forwardKinematicsChain (pid=8245): moved translation Matrix([[0, 0, 0]]) to right end
openravepy.ikfast.forwardKinematicsChain (pid=8245): moved translation Matrix([[0, 0, 0]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=8245): moved translation on intersecting axis Matrix([[0, 0, 321/1000]]) to left
openravepy.ikfast.generateIkSolver (pid=8245): [[1, 0, 0, 0],[0, 1, 0, 47/250],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[cos(j15), -sin(j15), 0, 0],[sin(j15), cos(j15), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[1, 0, 0, 1/10],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[cos(j16), -sin(j16), 0, 0],[sin(j16), cos(j16), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[cos(j17), -sin(j17), 0, 0],[sin(j17), cos(j17), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 2/5]]
openravepy.ikfast.generateIkSolver (pid=8245): [[cos(j18), -sin(j18), 0, 0],[sin(j18), cos(j18), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[0, 0, 1, 321/1000],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[cos(j19), -sin(j19), 0, 0],[sin(j19), cos(j19), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[cos(j20), -sin(j20), 0, 0],[sin(j20), cos(j20), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[0, 0, 1, 0],[1, 0, 0, 0],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[cos(j21), -sin(j21), 0, 0],[sin(j21), cos(j21), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8245): [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]]
noseplugins.multiprocess 2017-10-13 12:05:04,035: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:05:04,036: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py:TestSampling.test_robot(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:04,036: DEBUG batch result is ('test_sampling.TestSampling.test_robot ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e455f0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py", line 55, in test_robot\n    assert(len(values[0]) == robot.GetActiveDOF())\nTypeError: object of type \'numpy.float64\' has no len()\n')], {})
test_sampling.TestSampling.test_robot ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:04,036: DEBUG Ran 1 tests (total: 117)
noseplugins.multiprocess 2017-10-13 12:05:04,036: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:05:04,044: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:05:04,053: DEBUG Waiting for results (133/178 tasks), next timeout=947.392s
noseplugins.multiprocess 2017-10-13 12:05:04,062: DEBUG Worker 5 executing, pid=8315
noseplugins.multiprocess 2017-10-13 12:05:04,063: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_computederiv (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:04,064: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a140>
2017-10-13 12:05:04,064 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:04,100 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:04,100: DEBUG suite 139783299240272 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a1e0>
openravepytest.TestTrajectory.LoadEnv (pid=8315): ('data/katanatable.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:04,110: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:04,111: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_kawada_hironx_left(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:04,111: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_kawada_hironx_left ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e45830>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 181, in test_kawada_hironx_left\n    self.RunIkFast(\'robots/kawada-hironx.zae\',\'leftarm\', IkParameterizationType.Transform6D, expectedruntime=0.0016, minimumsuccess=0.984)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 74, in RunIkFast\n    ikmodel.generate(iktype=iktype,forceikbuild=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2950, in solveFullIK_6D\n    tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3250, in solveFullIK_6DGeneral\n    usedinequs = any([var in rawpolyeqs[0][0].gens or var in rawpolyeqs[0][1] for var in self.Variable(solvejointvar).vars])\nTypeError: argument of type \'Poly\' is not iterable\n')], {})
test_ikfast_mandatory.TestIkFast.test_kawada_hironx_left ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:04,111: DEBUG Ran 1 tests (total: 118)
noseplugins.multiprocess 2017-10-13 12:05:04,111: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:05:04,119: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:05:04,128: DEBUG Waiting for results (134/178 tasks), next timeout=947.376s
noseplugins.multiprocess 2017-10-13 12:05:04,138: DEBUG Worker 6 executing, pid=8325
noseplugins.multiprocess 2017-10-13 12:05:04,139: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_extendwaypoint (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:04,139: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a140>
2017-10-13 12:05:04,140 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:04,174 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:04,174: DEBUG suite 139783299240272 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a1e0>
openravepytest.TestTrajectory.LoadEnv (pid=8325): ('data/lab1.env.xml',), {}
2017-10-13 12:05:04,216 openrave [WARN] [planningutils.cpp:3010 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 629 steps even after original interpolation is done, interval=0
2017-10-13 12:05:04,285 openrave [WARN] [planningutils.cpp:3010 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 629 steps even after original interpolation is done, interval=0
2017-10-13 12:05:04,354 openrave [WARN] [planningutils.cpp:3010 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 629 steps even after original interpolation is done, interval=0
noseplugins.multiprocess 2017-10-13 12:05:04,402: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:05:04,403: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_checkendeffector(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:04,403: DEBUG batch result is ('test_robot.test_ode.test_checkendeffector ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e45950>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 360, in test_checkendeffector\n    ikmodel.autogenerate()\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate\n    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 720, in solveFullIK_Translation3D\n    return self.ikfast.IKFastSolver.solveFullIK_Translation3D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2479, in solveFullIK_Translation3D\n    return self._solveFullIK_Translation3D(LinksRaw,jointvars,isolvejointvars,basepos)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2500, in _solveFullIK_Translation3D\n    transtree = self.SolveAllEquations(AllEquations,curvars=solvejointvars[:],othersolvedvars=self.freejointvars,solsubs = self.freevarsubs[:],endbranchtree=endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6872, in SolveAllEquations\n    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7238, in AddSolution\n    nextsolutions[var] = self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations\n    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8704, in SolvePairVariables\n    M = zeros((4,4))\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros\n    return Matrix.zeros(*args, **kwargs)\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros\n    rows, cols = as_int(rows), as_int(cols)\n  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int\n    raise ValueError(\'%s is not an integer\' % (n,))\nValueError: (4, 4) is not an integer\n')], {})
test_robot.test_ode.test_checkendeffector ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:04,403: DEBUG Ran 1 tests (total: 119)
noseplugins.multiprocess 2017-10-13 12:05:04,403: DEBUG joining worker 4
getIndicesFromJointNames [3, 4] [u'j4', u'j5']
noseplugins.multiprocess 2017-10-13 12:05:04,413: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:05:04,422: DEBUG Waiting for results (135/178 tasks), next timeout=947.083s
noseplugins.multiprocess 2017-10-13 12:05:04,431: DEBUG Worker 4 executing, pid=8335
noseplugins.multiprocess 2017-10-13 12:05:04,433: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_grabbing (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:04,433: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a1e0>
2017-10-13 12:05:04,434 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:04,468 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:04,469: DEBUG suite 139783299240272 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a280>
openravepytest.TestTrajectory.LoadEnv (pid=8335): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:05:04,774 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,775 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,776 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,778 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,779 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,780 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,782 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,784 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,784 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,785 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,785 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,785 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,785 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,786 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,787 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,787 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:04,787 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:05:04,893: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:04,893: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_affine_smoothing(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:04,894: DEBUG batch result is ('test_trajectory.TestTrajectory.test_affine_smoothing ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_affine_smoothing ... ok
noseplugins.multiprocess 2017-10-13 12:05:04,894: DEBUG Ran 1 tests (total: 120)
noseplugins.multiprocess 2017-10-13 12:05:04,894: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:04,901: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:04,910: DEBUG Waiting for results (136/178 tasks), next timeout=946.595s
noseplugins.multiprocess 2017-10-13 12:05:04,919: DEBUG Worker 3 executing, pid=8345
noseplugins.multiprocess 2017-10-13 12:05:04,920: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_grabonly (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:04,920: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a1e0>
2017-10-13 12:05:04,921 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:04,953 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:04,954: DEBUG suite 139783299240272 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a280>
openravepytest.TestTrajectory.LoadEnv (pid=8345): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:05:04,972 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:04,972 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:04,972 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:04,972 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:04,972 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:04,976 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,036 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,037 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,058 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,058 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,080 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,080 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,080 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,080 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,089 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,089 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,092 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,111 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,111 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,133 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,134 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,134 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,134 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,142 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,143 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,187 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,188 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,206 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,206 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,227 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,227 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,227 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,228 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,236 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,236 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,239 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,257 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,257 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,279 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,279 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,279 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,279 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
2017-10-13 12:05:05,288 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce3b70)
noseplugins.multiprocess 2017-10-13 12:05:05,308: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:05,308: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_badinterpolation(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:05,309: DEBUG batch result is ('test_trajectory.TestTrajectory.test_badinterpolation ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_badinterpolation ... ok
noseplugins.multiprocess 2017-10-13 12:05:05,309: DEBUG Ran 1 tests (total: 121)
noseplugins.multiprocess 2017-10-13 12:05:05,309: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:05,320: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:05,329: DEBUG Waiting for results (137/178 tasks), next timeout=946.175s
noseplugins.multiprocess 2017-10-13 12:05:05,339: DEBUG Worker 0 executing, pid=8355
noseplugins.multiprocess 2017-10-13 12:05:05,340: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_ikparamretiming (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:05,340: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5b1e0>
2017-10-13 12:05:05,341 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:05,375 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:05,375: DEBUG suite 139783299244432 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5b280>
openravepytest.TestTrajectory.test_ikparamretiming (pid=8355): retime workspace ikparam
noseplugins.multiprocess 2017-10-13 12:05:05,629: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:05:05,629: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_computederiv(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:05,629: DEBUG batch result is ('test_trajectory.TestTrajectory.test_computederiv ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e45d88>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 797, in test_computederiv\n    assert(transdist(expectedaccel,acceldata) <= g_epsilon)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 73, in transdist\n    assert(len(list0)==len(list1))\nAssertionError: \n>>  assert(len(array([  0.00000000e+00,   7.50000000e+00,   1.00000000e+01,\n             1.00000000e+01,   1.00000000e+01,   0.00000000e+00,\n             3.50596745e-16,   4.67462326e-16,   4.67462326e-16,\n             4.67462326e-16,   0.00000000e+00,  -7.50000000e+00,\n            -1.00000000e+01,  -1.00000000e+01,  -1.00000000e+01,\n             0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n             0.00000000e+00,   0.00000000e+00]))==len(array([ 0.        ,  0.        ,  0.        ,  0.        ,  0.        ,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        ,  0.        ,  0.        ,  0.        ,  0.        ,\n            0.        ,  0.        ,  0.        ,  0.        ,  0.        ])))\n    return sum([sum(abs(item0-item1)) for item0, item1 in izip(array([  0.00000000e+00,   7.50000000e+00,   1.00000000e+01,\n             1.00000000e+01,   1.00000000e+01,   0.00000000e+00,\n             3.50596745e-16,   4.67462326e-16,   4.67462326e-16,\n             4.67462326e-16,   0.00000000e+00,  -7.50000000e+00,\n            -1.00000000e+01,  -1.00000000e+01,  -1.00000000e+01,\n             0.00000000e+00,   0.00000000e+00,   0.00000000e+00,\n             0.00000000e+00,   0.00000000e+00]),array([ 0.        ,  0.        ,  0.        ,  0.        ,  0.        ,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,\n            0.        ,  0.        ,  0.        ,  0.        ,  0.        ,\n            0.        ,  0.        ,  0.        ,  0.        ,  0.        ]))])\n    \n')], [], {})
test_trajectory.TestTrajectory.test_computederiv ... FAIL
noseplugins.multiprocess 2017-10-13 12:05:05,630: DEBUG Ran 1 tests (total: 122)
noseplugins.multiprocess 2017-10-13 12:05:05,630: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:05:05,639: DEBUG starting new process on worker 5
noseplugins.multiprocess 2017-10-13 12:05:05,648: DEBUG Waiting for results (138/178 tasks), next timeout=945.857s
noseplugins.multiprocess 2017-10-13 12:05:05,658: DEBUG Worker 5 executing, pid=8365
noseplugins.multiprocess 2017-10-13 12:05:05,659: DEBUG Worker 5 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_insertionsmoothing (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:05,659: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
2017-10-13 12:05:05,660 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:05,696 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:05,696: DEBUG suite 139783299248528 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5a280>
noseplugins.multiprocess 2017-10-13 12:05:05,965: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:05,966: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_extendwaypoint(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:05,966: DEBUG batch result is ('test_trajectory.TestTrajectory.test_extendwaypoint ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_extendwaypoint ... ok
noseplugins.multiprocess 2017-10-13 12:05:05,966: DEBUG Ran 1 tests (total: 123)
noseplugins.multiprocess 2017-10-13 12:05:05,966: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:05:05,976: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:05:05,985: DEBUG Waiting for results (139/178 tasks), next timeout=945.519s
noseplugins.multiprocess 2017-10-13 12:05:05,995: DEBUG Worker 6 executing, pid=8375
noseplugins.multiprocess 2017-10-13 12:05:05,996: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_merging (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:05,996: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c1e0>
2017-10-13 12:05:05,997 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:06,030 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:06,030: DEBUG suite 139783299244432 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c280>
openravepytest.TestTrajectory.LoadEnv (pid=8375): ('robots/pr2-beta-static.zae',), {}
2017-10-13 12:05:06,148 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:06,148 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:06,148 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:06,148 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:06,148 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:06,152 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,199 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,219 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,219 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,242 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,242 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,242 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,242 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,251 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,251 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,254 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,274 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,274 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
openravepy.databases.inversekinematics.generate (pid=8365): Generating inverse kinematics for manip leftarm: Transform6D [13, 14, 15, 16, 17, 18], precision=None, maxcasedepth=3 (this might take up to 10 min)
openravepy.databases.inversekinematics.generate (pid=8365): creating ik file /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/.openravetest/kinematics.a3efd6ebbec14ae1184319c65b8d1a99/ikfast0x1000004a.Transform6D.13_14_15_16_17_18.cpp
2017-10-13 12:05:06,297 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,297 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,297 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,297 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,306 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,352 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,371 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,371 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,393 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,402 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,402 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,405 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,424 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,424 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,446 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
2017-10-13 12:05:06,455 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd5ce6a00)
noseplugins.multiprocess 2017-10-13 12:05:06,471: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:05:06,471: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_grabbing(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:06,472: DEBUG batch result is ('test_trajectory.TestTrajectory.test_grabbing ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e45f80>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 93, in test_grabbing\n    traj1=basemanip.MoveToHandPosition(matrices=[Tgoal1],execute=False,outputtrajobj=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 230, in MoveToHandPosition\n    res = self.prob.SendCommand(cmd, releasegil=releasegil)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::IkSolverBase; typename boost::detail::sp_member_access<T>::type = OpenRAVE::IkSolverBase*], expr: px != 0\n')], {})
test_trajectory.TestTrajectory.test_grabbing ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:06,472: DEBUG Ran 1 tests (total: 124)
noseplugins.multiprocess 2017-10-13 12:05:06,472: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:05:06,488: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:05:06,498: DEBUG Waiting for results (140/178 tasks), next timeout=945.007s
noseplugins.multiprocess 2017-10-13 12:05:06,507: DEBUG Worker 4 executing, pid=8385
noseplugins.multiprocess 2017-10-13 12:05:06,508: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_merging2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:06,508: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c1e0>
2017-10-13 12:05:06,509 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:06,544 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:06,545: DEBUG suite 139783299248464 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c280>
2017-10-13 12:05:06,546 openrave [WARN] [configurationspecification.cpp:1419 ConfigurationSpecification::ConvertGroupData] could not find body 'joint_velocities VP-5243I 0 1 2 3 4 5 6' or 'joint_velocities VP-5243I 0 1 2 3 4 5'
openravepy.ikfast.forwardKinematicsChain (pid=8365): moved translation Matrix([[0, 0, -1/25]]) to right end
2017-10-13 12:05:06,546 openrave [WARN] [configurationspecification.cpp:1419 ConfigurationSpecification::ConvertGroupData] could not find body 'joint_values VP-5243I 0 1 2 3 4 5 6' or 'joint_values VP-5243I 0 1 2 3 4 5'
2017-10-13 12:05:06,546 openrave [WARN] [configurationspecification.cpp:1419 ConfigurationSpecification::ConvertGroupData] could not find body 'joint_velocities VP-5243I 0 1 2 3 4 5 6' or 'joint_velocities VP-5243I 0 1 2 3 4 5'
2017-10-13 12:05:06,546 openrave [WARN] [configurationspecification.cpp:1419 ConfigurationSpecification::ConvertGroupData] could not find body 'joint_values VP-5243I 0 1 2 3 4 5 6' or 'joint_values VP-5243I 0 1 2 3 4 5'
2017-10-13 12:05:06,546 openrave [WARN] [configurationspecification.cpp:1419 ConfigurationSpecification::ConvertGroupData] could not find body 'joint_velocities VP-5243I 0 1 2 3 4 5 6' or 'joint_velocities VP-5243I 0 1 2 3 4 5'
2017-10-13 12:05:06,547 openrave [WARN] [configurationspecification.cpp:1419 ConfigurationSpecification::ConvertGroupData] could not find body 'joint_values VP-5243I 0 1 2 3 4 5 6' or 'joint_values VP-5243I 0 1 2 3 4 5'
noseplugins.multiprocess 2017-10-13 12:05:06,549: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:05:06,549: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_merging2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:06,549: DEBUG batch result is ('test_trajectory.TestTrajectory.test_merging2 ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_merging2 ... ok
noseplugins.multiprocess 2017-10-13 12:05:06,549: DEBUG Ran 1 tests (total: 125)
noseplugins.multiprocess 2017-10-13 12:05:06,549: DEBUG joining worker 4
openravepy.ikfast.forwardKinematicsChain (pid=8365): moved translation Matrix([[0, 0, 0]]) to left end
openravepy.ikfast.forwardKinematicsChain (pid=8365): moved translation on intersecting axis Matrix([[0, 0, -47/200]]) to left
noseplugins.multiprocess 2017-10-13 12:05:06,555: DEBUG starting new process on worker 4
openravepy.ikfast.generateIkSolver (pid=8365): [[1, 0, 0, 0],[0, 193185*sqrt(39999955921)/39999955921, 51764*sqrt(39999955921)/39999955921, 29/200],[0, -51764*sqrt(39999955921)/39999955921, 193185*sqrt(39999955921)/39999955921, 46287/125000]]
openravepy.ikfast.generateIkSolver (pid=8365): [[cos(j13), -sin(j13), 0, 0],[sin(j13), cos(j13), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[cos(j14), -sin(j14), 0, 0],[sin(j14), cos(j14), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[1, 0, 0, 0],[0, 1, 0, 1/4],[0, 0, 1, 19/200]]
openravepy.ikfast.generateIkSolver (pid=8365): [[cos(j15), -sin(j15), 0, 0],[sin(j15), cos(j15), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[1, 0, 0, -3/100],[0, 0, -1, 47/200],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[cos(j16), -sin(j16), 0, 0],[sin(j16), cos(j16), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[1, 0, 0, 0],[0, 0, 1, 0],[0, -1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[cos(j17), -sin(j17), 0, 0],[sin(j17), cos(j17), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[0, 0, 1, 0],[1, 0, 0, 9/100],[0, 1, 0, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[cos(j18), -sin(j18), 0, 0],[sin(j18), cos(j18), 0, 0],[0, 0, 1, 0]]
openravepy.ikfast.generateIkSolver (pid=8365): [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, -1/25]]
noseplugins.multiprocess 2017-10-13 12:05:06,563: DEBUG Waiting for results (141/178 tasks), next timeout=944.941s
noseplugins.multiprocess 2017-10-13 12:05:06,573: DEBUG Worker 4 executing, pid=8395
noseplugins.multiprocess 2017-10-13 12:05:06,574: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_multipleretiming (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:06,574: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
2017-10-13 12:05:06,575 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:06,610 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:06,610: DEBUG suite 139783299252624 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5b280>
2017-10-13 12:05:06,654 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:06,654 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:06,654 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:06,654 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:06,654 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
noseplugins.multiprocess 2017-10-13 12:05:06,659: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:06,659: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_ikparamretiming(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:06,659: DEBUG batch result is ('test_trajectory.TestTrajectory.test_ikparamretiming ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e47200>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 465, in test_ikparamretiming\n    assert(all(residuals < 5e-5)) # make sure it matches the degree\nAssertionError: \n    array([[ 0.79999957,  0.69923824],\n           [-0.08648613, -0.21754692]]), array([  1.81305028e-09,   5.80200279e-01]), 2, array([ 1.38072121,  0.30595579]), 7.9047879353311146e-14 = polyfit(array([ 0.   ,  0.005,  0.01 ,  0.015,  0.02 ,  0.025,  0.03 ,  0.035,\n            0.04 ,  0.045,  0.05 ,  0.055,  0.06 ,  0.065,  0.07 ,  0.075,\n>>          0.08 ,  0.085,  0.09 ,  0.095,  0.1  ,  0.105,  0.11 ,  0.115,\n            0.12 ,  0.125,  0.13 ,  0.135,  0.14 ,  0.145,  0.15 ,  0.155,\n            0.16 ,  0.165,  0.17 ,  0.175,  0.18 ,  0.185,  0.19 ,  0.195,\n            0.2  ,  0.205,  0.21 ,  0.215,  0.22 ,  0.225,  0.23 ,  0.235,\n            0.24 ,  0.245,  0.25 ,  0.255,  0.26 ,  0.265,  0.27 ,  0.275,\n            0.28 ,  0.285,  0.29 ,  0.295,  0.3  ,  0.305,  0.31 ,  0.315,\n            0.32 ,  0.325,  0.33 ,  0.335,  0.34 ,  0.345,  0.35 ,  0.355,\n            0.36 ,  0.365,  0.37 ,  0.375,  0.38 ,  0.385,  0.39 ,  0.395,\n            0.4  ,  0.405,  0.41 ,  0.415,  0.42 ,  0.425,  0.43 ,  0.435,\n            0.44 ,  0.445,  0.45 ,  0.455,  0.46 ,  0.465,  0.47 ,  0.475,\n            0.48 ,  0.485,  0.49 ,  0.495,  0.5  ,  0.505,  0.51 ,  0.515,\n            0.52 ,  0.525,  0.53 ,  0.535,  0.54 ,  0.545,  0.55 ,  0.555,\n            0.56 ,  0.565,  0.57 ,  0.575,  0.58 ,  0.585,  0.59 ,  0.595,\n            0.6  ,  0.605,  0.61 ,  0.615,  0.62 ,  0.625,  0.63 ,  0.635,\n            0.64 ,  0.645,  0.65 ,  0.655,  0.66 ,  0.665,  0.67 ,  0.675,\n            0.68 ,  0.685,  0.69 ,  0.695,  0.7  ,  0.705,  0.71 ,  0.715,\n            0.72 ,  0.725,  0.73 ,  0.735,  0.74 ,  0.745,  0.75 ,  0.755,\n            0.76 ,  0.765,  0.77 ,  0.775,  0.78 ,  0.785,  0.79 ,  0.795,\n            0.8  ,  0.805,  0.81 ,  0.815,  0.82 ,  0.825,  0.83 ,  0.835,\n            0.84 ,  0.845,  0.85 ,  0.855,  0.86 ,  0.865,  0.87 ,  0.875,\n            0.88 ,  0.885,  0.89 ,  0.895,  0.9  ,  0.905,  0.91 ,  0.915,\n            0.92 ,  0.925,  0.93 ,  0.935,  0.94 ,  0.945,  0.95 ,  0.955,\n            0.96 ,  0.965,  0.97 ,  0.975,  0.98 ,  0.985,  0.99 ,  0.995,\n            1.   ,  1.005,  1.01 ,  1.015,  1.02 ,  1.025,  1.03 ,  1.035,\n            1.04 ,  1.045,  1.05 ,  1.055,  1.06 ,  1.065,  1.07 ,  1.075,\n            1.08 ,  1.085,  1.09 ,  1.095,  1.1  ,  1.105,  1.11 ,  1.115,\n            1.12 ,  1.125,  1.13 ,  1.135,  1.14 ,  1.145,  1.15 ,  1.155,\n            1.16 ,  1.165,  1.17 ,  1.175,  1.18 ,  1.185,  1.19 ,  1.195,\n            1.2  ,  1.205,  1.21 ,  1.215,  1.22 ,  1.225,  1.23 ,  1.235,\n            1.24 ,  1.245,  1.25 ,  1.255,  1.26 ,  1.265,  1.27 ,  1.275,\n            1.28 ,  1.285,  1.29 ,  1.295,  1.3  ,  1.305,  1.31 ,  1.315,\n            1.32 ,  1.325,  1.33 ,  1.335,  1.34 ,  1.345,  1.35 ,  1.355,\n            1.36 ,  1.365,  1.37 ,  1.375,  1.38 ,  1.385,  1.39 ,  1.395,\n            1.4  ,  1.405,  1.41 ,  1.415,  1.42 ,  1.425,  1.43 ,  1.435,\n            1.44 ,  1.445,  1.45 ,  1.455,  1.46 ,  1.465,  1.47 ,  1.475,\n            1.48 ,  1.485,  1.49 ,  1.495,  1.5  ,  1.505,  1.51 ,  1.515,\n            1.52 ,  1.525,  1.53 ,  1.535,  1.54 ,  1.545,  1.55 ,  1.555,\n            1.56 ,  1.565,  1.57 ,  1.575,  1.58 ,  1.585,  1.59 ,  1.595,\n            1.6  ,  1.605,  1.61 ,  1.615,  1.62 ,  1.625,  1.63 ,  1.635,\n            1.64 ,  1.645,  1.65 ,  1.655,  1.66 ,  1.665,  1.67 ,  1.675,\n            1.68 ,  1.685,  1.69 ,  1.695,  1.7  ,  1.705,  1.71 ,  1.715,\n            1.72 ,  1.725,  1.73 ,  1.735,  1.74 ,  1.745,  1.75 ,  1.755,\n            1.76 ,  1.765,  1.77 ,  1.775,  1.78 ,  1.785,  1.79 ,  1.795,\n            1.8  ,  1.805,  1.81 ,  1.815,  1.82 ,  1.825,  1.83 ,  1.835,\n            1.84 ,  1.845,  1.85 ,  1.855,  1.86 ,  1.865,  1.87 ,  1.875,\n            1.88 ,  1.885,  1.89 ,  1.895,  1.9  ,  1.905,  1.91 ,  1.915,\n            1.92 ,  1.925,  1.93 ,  1.935,  1.94 ,  1.945,  1.95 ,  1.955,\n            1.96 ,  1.965,  1.97 ,  1.975,  1.98 ,  1.985,  1.99 ,  1.995,\n            2.   ,  2.005,  2.01 ,  2.015,  2.02 ,  2.025,  2.03 ,  2.035,\n            2.04 ,  2.045,  2.05 ,  2.055,  2.06 ,  2.065,  2.07 ,  2.075,\n            2.08 ,  2.085,  2.09 ,  2.095,  2.1  ,  2.105,  2.11 ,  2.115,\n            2.12 ,  2.125,  2.13 ,  2.135,  2.14 ,  2.145,  2.15 ,  2.155,\n            2.16 ,  2.165,  2.17 ,  2.175,  2.18 ,  2.185,  2.19 ,  2.195,\n            2.2  ,  2.205])[:43],<numpy.lib.index_tricks.CClass object at 0x7f21eb3ba3d0>[array([  0.00000000e+00,   4.62500000e-05,   1.85000000e-04,\n             4.16250000e-04,   7.40000000e-04,   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1.01351351e+00,\n             1.01751351e+00,   1.02151351e+00,   1.02551351e+00,\n             1.02951351e+00,   1.03351351e+00,   1.03751351e+00,\n             1.04151351e+00,   1.04551351e+00,   1.04951351e+00,\n             1.05351351e+00,   1.05751351e+00,   1.06151351e+00,\n             1.06551351e+00,   1.06951351e+00,   1.07351351e+00,\n             1.07751351e+00,   1.08151351e+00,   1.08551351e+00,\n             1.08951351e+00,   1.09351351e+00,   1.09751351e+00,\n             1.10151351e+00,   1.10551351e+00,   1.10951351e+00,\n             1.11351351e+00,   1.11751351e+00,   1.12151351e+00,\n             1.12551351e+00,   1.12951351e+00,   1.13351351e+00,\n             1.13751351e+00,   1.14151351e+00,   1.14551351e+00,\n             1.14951351e+00,   1.15351351e+00,   1.15751351e+00,\n             1.16151351e+00,   1.16551351e+00,   1.16951351e+00,\n             1.17351351e+00,   1.17751351e+00,   1.18151351e+00,\n             1.18551351e+00,   1.18951351e+00,   1.19351351e+00,\n             1.19751351e+00,   1.20151351e+00,   1.20551351e+00,\n             1.20951351e+00,   1.21351351e+00,   1.21751351e+00,\n             1.22151351e+00,   1.22551351e+00,   1.22951351e+00,\n             1.23351351e+00,   1.23751351e+00,   1.24151351e+00,\n             1.24551351e+00,   1.24951351e+00,   1.25351351e+00,\n             1.25751351e+00,   1.26151351e+00,   1.26551351e+00,\n             1.26951351e+00,   1.27351351e+00,   1.27751351e+00,\n             1.28151351e+00,   1.28551351e+00,   1.28951351e+00,\n             1.29351351e+00,   1.29751351e+00,   1.30151351e+00,\n             1.30551351e+00,   1.30951351e+00,   1.31351351e+00,\n             1.31751351e+00,   1.32151351e+00,   1.32551351e+00,\n             1.32951351e+00,   1.33351351e+00,   1.33751351e+00,\n             1.34151351e+00,   1.34551351e+00,   1.34951351e+00,\n             1.35351351e+00,   1.35751351e+00,   1.36151351e+00,\n             1.36551351e+00,   1.36951351e+00,   1.37351351e+00,\n             1.37751351e+00,   1.38151351e+00,   1.38551351e+00,\n             1.38951351e+00,   1.39351351e+00,   1.39751351e+00,\n             1.40151351e+00,   1.40551351e+00,   1.40951351e+00,\n             1.41351351e+00,   1.41751351e+00,   1.42151351e+00,\n             1.42551351e+00,   1.42951351e+00,   1.43351351e+00,\n             1.43751351e+00,   1.44151351e+00,   1.44551351e+00,\n             1.44951351e+00,   1.45351351e+00,   1.45751351e+00,\n             1.46151351e+00,   1.46551351e+00,   1.46951351e+00,\n             1.47351351e+00,   1.47751351e+00,   1.48151351e+00,\n             1.48551351e+00,   1.48951351e+00,   1.49351351e+00,\n             1.49751351e+00,   1.50151351e+00,   1.50547077e+00,\n             1.50933559e+00,   1.51310791e+00,   1.51678773e+00,\n             1.52037505e+00,   1.52386987e+00,   1.52727219e+00,\n             1.53058201e+00,   1.53379933e+00,   1.53692415e+00,\n             1.53995647e+00,   1.54289630e+00,   1.54574362e+00,\n             1.54849844e+00,   1.55116076e+00,   1.55373058e+00,\n             1.55620790e+00,   1.55859272e+00,   1.56088504e+00,\n             1.56308486e+00,   1.56519218e+00,   1.56720700e+00,\n             1.56912932e+00,   1.57095915e+00,   1.57269647e+00,\n             1.57434129e+00,   1.57589361e+00,   1.57735343e+00,\n             1.57872075e+00,   1.57999557e+00,   1.58117789e+00,\n             1.58226771e+00,   1.58326503e+00,   1.58416985e+00,\n             1.58498218e+00,   1.58570200e+00,   1.58632932e+00,\n             1.58686414e+00,   1.58730646e+00,   1.58765628e+00,\n             1.58791360e+00,   1.58807842e+00,   1.58815074e+00,\n             1.58815442e+00])[:43],array([  0.00000000e+00,   1.13963443e-05,   4.55853773e-05,\n             1.02567099e-04,   1.82341509e-04,   2.84908608e-04,\n             4.10268395e-04,   5.58420871e-04,   7.29366036e-04,\n             9.23103889e-04,   1.13963443e-03,   1.37895766e-03,\n             1.64107358e-03,   1.92598219e-03,   2.23368349e-03,\n             2.56417747e-03,   2.91746414e-03,   3.29354351e-03,\n             3.69241556e-03,   4.11408030e-03,   4.55853773e-03,\n             5.02578784e-03,   5.51583065e-03,   6.02866614e-03,\n             6.56429432e-03,   7.12271520e-03,   7.70392876e-03,\n             8.30793500e-03,   8.93473394e-03,   9.58432557e-03,\n             1.02567099e-02,   1.09518869e-02,   1.16698566e-02,\n             1.24106190e-02,   1.31741740e-02,   1.39605218e-02,\n             1.47696622e-02,   1.56015954e-02,   1.64563212e-02,\n             1.73338397e-02,   1.82341509e-02,   1.91572548e-02,\n             2.01031514e-02,   2.10718406e-02,   2.20633226e-02,\n             2.30775972e-02,   2.41146646e-02,   2.51745246e-02,\n             2.62571773e-02,   2.73626227e-02,   2.84908608e-02,\n             2.96418916e-02,   3.08157150e-02,   3.20123312e-02,\n             3.32317400e-02,   3.44739415e-02,   3.57389358e-02,\n             3.70267227e-02,   3.83373023e-02,   3.96706746e-02,\n             4.10268395e-02,   4.24057972e-02,   4.38075475e-02,\n             4.52320906e-02,   4.66794263e-02,   4.81495547e-02,\n             4.96424758e-02,   5.11581896e-02,   5.26966961e-02,\n             5.42579953e-02,   5.58420871e-02,   5.74489717e-02,\n             5.90786489e-02,   6.07311188e-02,   6.24063815e-02,\n             6.41044368e-02,   6.58252848e-02,   6.75689254e-02,\n             6.93353588e-02,   7.11245849e-02,   7.29366036e-02,\n             7.47714150e-02,   7.66290192e-02,   7.85094160e-02,\n             8.04126055e-02,   8.23385877e-02,   8.42873625e-02,\n             8.62589301e-02,   8.82532904e-02,   9.02704433e-02,\n             9.23103889e-02,   9.43731273e-02,   9.64586583e-02,\n             9.85669820e-02,   1.00698098e-01,   1.02852007e-01,\n             1.05028709e-01,   1.07228204e-01,   1.09450491e-01,\n             1.11695571e-01,   1.13963443e-01,   1.16254108e-01,\n             1.18567566e-01,   1.20903817e-01,   1.23262860e-01,\n             1.25644696e-01,   1.28049325e-01,   1.30476746e-01,\n             1.32926960e-01,   1.35399967e-01,   1.37895766e-01,\n             1.40414358e-01,   1.42955743e-01,   1.45519921e-01,\n             1.48106891e-01,   1.50716654e-01,   1.53349209e-01,\n             1.56004557e-01,   1.58682698e-01,   1.61383632e-01,\n             1.64107358e-01,   1.66853877e-01,   1.69623189e-01,\n             1.72415293e-01,   1.75230190e-01,   1.78067880e-01,\n             1.80928362e-01,   1.83811637e-01,   1.86717705e-01,\n             1.89646566e-01,   1.92598219e-01,   1.95572665e-01,\n             1.98569903e-01,   2.01589935e-01,   2.04632759e-01,\n             2.07698375e-01,   2.10786784e-01,   2.13897986e-01,\n             2.17031981e-01,   2.20188768e-01,   2.23368349e-01,\n             2.26570721e-01,   2.29795887e-01,   2.33043845e-01,\n             2.36314596e-01,   2.39608139e-01,   2.42924475e-01,\n             2.46263604e-01,   2.49625526e-01,   2.53010240e-01,\n             2.56417747e-01,   2.59848047e-01,   2.63301139e-01,\n             2.66777024e-01,   2.70275702e-01,   2.73797172e-01,\n             2.77341435e-01,   2.80908491e-01,   2.84498339e-01,\n             2.88110981e-01,   2.91746414e-01,   2.95404641e-01,\n             2.99085660e-01,   3.02789472e-01,   3.06516077e-01,\n             3.10265474e-01,   3.14037664e-01,   3.17832647e-01,\n             3.21650422e-01,   3.25490990e-01,   3.29354351e-01,\n             3.33240504e-01,   3.37149450e-01,   3.41081189e-01,\n             3.45035720e-01,   3.49013045e-01,   3.53013161e-01,\n             3.57036071e-01,   3.61081773e-01,   3.65150268e-01,\n             3.69241556e-01,   3.73355636e-01,   3.77492509e-01,\n             3.81652175e-01,   3.85834633e-01,   3.90039884e-01,\n             3.94267928e-01,   3.98518764e-01,   4.02792393e-01,\n             4.07088815e-01,   4.11408030e-01,   4.15750037e-01,\n             4.20114837e-01,   4.24502429e-01,   4.28912815e-01,\n             4.33345993e-01,   4.37801963e-01,   4.42280726e-01,\n             4.46782282e-01,   4.51306631e-01,   4.55853773e-01,\n             4.60423707e-01,   4.65016433e-01,   4.69631953e-01,\n             4.74270265e-01,   4.78931370e-01,   4.83615267e-01,\n             4.88321958e-01,   4.93051440e-01,   4.97803716e-01,\n             5.02578784e-01,   5.07376645e-01,   5.12197299e-01,\n             5.17040745e-01,   5.21906984e-01,   5.26796016e-01,\n             5.31707840e-01,   5.36642457e-01,   5.41599867e-01,\n             5.46580070e-01,   5.51583065e-01,   5.56592031e-01,\n             5.61578658e-01,   5.66542492e-01,   5.71483533e-01,\n             5.76401781e-01,   5.81297237e-01,   5.86169900e-01,\n             5.91019771e-01,   5.95846848e-01,   6.00651133e-01,\n             6.05432626e-01,   6.10191325e-01,   6.14927232e-01,\n             6.19640346e-01,   6.24330668e-01,   6.28998197e-01,\n             6.33642933e-01,   6.38264877e-01,   6.42864027e-01,\n             6.47440386e-01,   6.51993951e-01,   6.56524724e-01,\n             6.61032704e-01,   6.65517891e-01,   6.69980286e-01,\n             6.74419888e-01,   6.78836697e-01,   6.83230714e-01,\n             6.87601938e-01,   6.91950369e-01,   6.96276008e-01,\n             7.00578853e-01,   7.04858907e-01,   7.09116167e-01,\n             7.13350635e-01,   7.17562310e-01,   7.21751192e-01,\n             7.25917282e-01,   7.30060579e-01,   7.34181084e-01,\n             7.38278795e-01,   7.42353714e-01,   7.46405840e-01,\n             7.50435174e-01,   7.54441715e-01,   7.58425463e-01,\n             7.62386419e-01,   7.66324582e-01,   7.70239952e-01,\n             7.74132529e-01,   7.78002314e-01,   7.81849306e-01,\n             7.85673505e-01,   7.89474912e-01,   7.93253526e-01,\n             7.97009348e-01,   8.00742376e-01,   8.04452612e-01,\n             8.08140055e-01,   8.11804706e-01,   8.15446564e-01,\n             8.19065629e-01,   8.22661902e-01,   8.26235381e-01,\n             8.29786069e-01,   8.33313963e-01,   8.36819065e-01,\n             8.40301374e-01,   8.43760890e-01,   8.47197614e-01,\n             8.50611545e-01,   8.54002683e-01,   8.57371029e-01,\n             8.60716582e-01,   8.64039342e-01,   8.67339310e-01,\n             8.70616485e-01,   8.73870867e-01,   8.77102456e-01,\n             8.80311253e-01,   8.83497257e-01,   8.86660469e-01,\n             8.89800887e-01,   8.92918513e-01,   8.96013347e-01,\n             8.99085388e-01,   9.02134636e-01,   9.05161091e-01,\n             9.08164753e-01,   9.11145623e-01,   9.14103701e-01,\n             9.17038985e-01,   9.19951477e-01,   9.22841176e-01,\n             9.25708083e-01,   9.28552196e-01,   9.31373518e-01,\n             9.34172046e-01,   9.36947782e-01,   9.39700725e-01,\n             9.42430875e-01,   9.45138233e-01,   9.47822798e-01,\n             9.50484570e-01,   9.53123550e-01,   9.55739737e-01,\n             9.58333131e-01,   9.60903732e-01,   9.63451541e-01,\n             9.65976557e-01,   9.68478781e-01,   9.70958211e-01,\n             9.73414850e-01,   9.75848695e-01,   9.78259748e-01,\n             9.80648008e-01,   9.83013475e-01,   9.85356150e-01,\n             9.87676032e-01,   9.89973121e-01,   9.92247417e-01,\n             9.94498921e-01,   9.96727633e-01,   9.98933551e-01,\n             1.00111668e+00,   1.00327701e+00,   1.00541455e+00,\n             1.00752930e+00,   1.00962125e+00,   1.01169042e+00,\n             1.01373679e+00,   1.01576036e+00,   1.01776115e+00,\n             1.01973914e+00,   1.02169434e+00,   1.02362674e+00,\n             1.02553636e+00,   1.02742318e+00,   1.02928721e+00,\n             1.03112844e+00,   1.03294688e+00,   1.03474253e+00,\n             1.03651539e+00,   1.03826546e+00,   1.03999273e+00,\n             1.04169721e+00,   1.04337889e+00,   1.04503779e+00,\n             1.04667389e+00,   1.04828720e+00,   1.04987771e+00,\n             1.05144544e+00,   1.05299037e+00,   1.05451251e+00,\n             1.05601185e+00,   1.05748840e+00,   1.05894216e+00,\n             1.06037313e+00,   1.06178131e+00,   1.06316669e+00,\n             1.06452928e+00,   1.06586907e+00,   1.06718608e+00,\n             1.06848029e+00,   1.06975171e+00,   1.07100033e+00,\n             1.07222616e+00,   1.07342920e+00,   1.07460945e+00,\n             1.07576691e+00,   1.07690157e+00,   1.07801344e+00,\n             1.07910251e+00,   1.08016880e+00,   1.08121229e+00,\n             1.08223299e+00,   1.08323089e+00,   1.08420601e+00,\n             1.08515833e+00,   1.08608786e+00,   1.08699459e+00,\n             1.08787853e+00,   1.08873968e+00,   1.08957804e+00,\n             1.09039361e+00,   1.09118638e+00,   1.09195636e+00,\n             1.09270354e+00,   1.09342794e+00,   1.09412954e+00,\n             1.09480835e+00,   1.09546436e+00,   1.09609759e+00,\n             1.09670802e+00,   1.09729565e+00,   1.09786050e+00,\n             1.09840255e+00,   1.09892181e+00,   1.09941828e+00,\n             1.09989195e+00,   1.10034283e+00,   1.10077092e+00,\n             1.10117622e+00,   1.10155872e+00,   1.10191843e+00,\n             1.10225535e+00,   1.10256947e+00,   1.10286081e+00,\n             1.10312935e+00,   1.10337509e+00,   1.10359805e+00,\n             1.10379821e+00,   1.10397558e+00,   1.10413016e+00,\n             1.10426194e+00,   1.10437093e+00,   1.10445713e+00,\n             1.10452054e+00,   1.10456115e+00,   1.10457897e+00,\n             1.10457988e+00])[:43]],2,full=True)\n    assert(all(array([  1.81305028e-09,   5.80200279e-01]) < 5e-5)) # make sure it matches the degree\n    array([[ 0.79999957,  0.69923824],\n           [-0.08648613, -0.21754692]]), array([  1.81305028e-09,   5.80200279e-01]), 2, array([ 1.38072121,  0.30595579]), 7.9047879353311146e-14 = polyfit(array([ 0.   ,  0.005,  0.01 ,  0.015,  0.02 ,  0.025,  0.03 ,  0.035,\n            0.04 ,  0.045,  0.05 ,  0.055,  0.06 ,  0.065,  0.07 ,  0.075,\n            0.08 ,  0.085,  0.09 ,  0.095,  0.1  ,  0.105,  0.11 ,  0.115,\n            0.12 ,  0.125,  0.13 ,  0.135,  0.14 ,  0.145,  0.15 ,  0.155,\n            0.16 ,  0.165,  0.17 ,  0.175,  0.18 ,  0.185,  0.19 ,  0.195,\n            0.2  ,  0.205,  0.21 ,  0.215,  0.22 ,  0.225,  0.23 ,  0.235,\n            0.24 ,  0.245,  0.25 ,  0.255,  0.26 ,  0.265,  0.27 ,  0.275,\n            0.28 ,  0.285,  0.29 ,  0.295,  0.3  ,  0.305,  0.31 ,  0.315,\n            0.32 ,  0.325,  0.33 ,  0.335,  0.34 ,  0.345,  0.35 ,  0.355,\n            0.36 ,  0.365,  0.37 ,  0.375,  0.38 ,  0.385,  0.39 ,  0.395,\n            0.4  ,  0.405,  0.41 ,  0.415,  0.42 ,  0.425,  0.43 ,  0.435,\n            0.44 ,  0.445,  0.45 ,  0.455,  0.46 ,  0.465,  0.47 ,  0.475,\n            0.48 ,  0.485,  0.49 ,  0.495,  0.5  ,  0.505,  0.51 ,  0.515,\n            0.52 ,  0.525,  0.53 ,  0.535,  0.54 ,  0.545,  0.55 ,  0.555,\n            0.56 ,  0.565,  0.57 ,  0.575,  0.58 ,  0.585,  0.59 ,  0.595,\n            0.6  ,  0.605,  0.61 ,  0.615,  0.62 ,  0.625,  0.63 ,  0.635,\n            0.64 ,  0.645,  0.65 ,  0.655,  0.66 ,  0.665,  0.67 ,  0.675,\n            0.68 ,  0.685,  0.69 ,  0.695,  0.7  ,  0.705,  0.71 ,  0.715,\n            0.72 ,  0.725,  0.73 ,  0.735,  0.74 ,  0.745,  0.75 ,  0.755,\n            0.76 ,  0.765,  0.77 ,  0.775,  0.78 ,  0.785,  0.79 ,  0.795,\n            0.8  ,  0.805,  0.81 ,  0.815,  0.82 ,  0.825,  0.83 ,  0.835,\n            0.84 ,  0.845,  0.85 ,  0.855,  0.86 ,  0.865,  0.87 ,  0.875,\n            0.88 ,  0.885,  0.89 ,  0.895,  0.9  ,  0.905,  0.91 ,  0.915,\n            0.92 ,  0.925,  0.93 ,  0.935,  0.94 ,  0.945,  0.95 ,  0.955,\n            0.96 ,  0.965,  0.97 ,  0.975,  0.98 ,  0.985,  0.99 ,  0.995,\n            1.   ,  1.005,  1.01 ,  1.015,  1.02 ,  1.025,  1.03 ,  1.035,\n            1.04 ,  1.045,  1.05 ,  1.055,  1.06 ,  1.065,  1.07 ,  1.075,\n            1.08 ,  1.085,  1.09 ,  1.095,  1.1  ,  1.105,  1.11 ,  1.115,\n            1.12 ,  1.125,  1.13 ,  1.135,  1.14 ,  1.145,  1.15 ,  1.155,\n            1.16 ,  1.165,  1.17 ,  1.175,  1.18 ,  1.185,  1.19 ,  1.195,\n            1.2  ,  1.205,  1.21 ,  1.215,  1.22 ,  1.225,  1.23 ,  1.235,\n            1.24 ,  1.245,  1.25 ,  1.255,  1.26 ,  1.265,  1.27 ,  1.275,\n            1.28 ,  1.285,  1.29 ,  1.295,  1.3  ,  1.305,  1.31 ,  1.315,\n            1.32 ,  1.325,  1.33 ,  1.335,  1.34 ,  1.345,  1.35 ,  1.355,\n            1.36 ,  1.365,  1.37 ,  1.375,  1.38 ,  1.385,  1.39 ,  1.395,\n            1.4  ,  1.405,  1.41 ,  1.415,  1.42 ,  1.425,  1.43 ,  1.435,\n            1.44 ,  1.445,  1.45 ,  1.455,  1.46 ,  1.465,  1.47 ,  1.475,\n            1.48 ,  1.485,  1.49 ,  1.495,  1.5  ,  1.505,  1.51 ,  1.515,\n            1.52 ,  1.525,  1.53 ,  1.535,  1.54 ,  1.545,  1.55 ,  1.555,\n            1.56 ,  1.565,  1.57 ,  1.575,  1.58 ,  1.585,  1.59 ,  1.595,\n            1.6  ,  1.605,  1.61 ,  1.615,  1.62 ,  1.625,  1.63 ,  1.635,\n            1.64 ,  1.645,  1.65 ,  1.655,  1.66 ,  1.665,  1.67 ,  1.675,\n            1.68 ,  1.685,  1.69 ,  1.695,  1.7  ,  1.705,  1.71 ,  1.715,\n            1.72 ,  1.725,  1.73 ,  1.735,  1.74 ,  1.745,  1.75 ,  1.755,\n            1.76 ,  1.765,  1.77 ,  1.775,  1.78 ,  1.785,  1.79 ,  1.795,\n            1.8  ,  1.805,  1.81 ,  1.815,  1.82 ,  1.825,  1.83 ,  1.835,\n            1.84 ,  1.845,  1.85 ,  1.855,  1.86 ,  1.865,  1.87 ,  1.875,\n            1.88 ,  1.885,  1.89 ,  1.895,  1.9  ,  1.905,  1.91 ,  1.915,\n            1.92 ,  1.925,  1.93 ,  1.935,  1.94 ,  1.945,  1.95 ,  1.955,\n            1.96 ,  1.965,  1.97 ,  1.975,  1.98 ,  1.985,  1.99 ,  1.995,\n            2.   ,  2.005,  2.01 ,  2.015,  2.02 ,  2.025,  2.03 ,  2.035,\n            2.04 ,  2.045,  2.05 ,  2.055,  2.06 ,  2.065,  2.07 ,  2.075,\n            2.08 ,  2.085,  2.09 ,  2.095,  2.1  ,  2.105,  2.11 ,  2.115,\n            2.12 ,  2.125,  2.13 ,  2.135,  2.14 ,  2.145,  2.15 ,  2.155,\n            2.16 ,  2.165,  2.17 ,  2.175,  2.18 ,  2.185,  2.19 ,  2.195,\n            2.2  ,  2.205])[43:399],<numpy.lib.index_tricks.CClass object at 0x7f21eb3ba3d0>[array([  0.00000000e+00,   4.62500000e-05,   1.85000000e-04,\n             4.16250000e-04,   7.40000000e-04,   1.15625000e-03,\n             1.66500000e-03,   2.26625000e-03,   2.96000000e-03,\n             3.74625000e-03,   4.62500000e-03,   5.59625000e-03,\n             6.66000000e-03,   7.81625000e-03,   9.06500000e-03,\n             1.04062500e-02,   1.18400000e-02,   1.33662500e-02,\n             1.49850000e-02,   1.66962500e-02,   1.85000000e-02,\n             2.03962500e-02,   2.23850000e-02,   2.44662500e-02,\n             2.66400000e-02,   2.89062500e-02,   3.12650000e-02,\n             3.37162500e-02,   3.62600000e-02,   3.88962500e-02,\n             4.16250000e-02,   4.44462500e-02,   4.73600000e-02,\n             5.03662500e-02,   5.34650000e-02,   5.66562500e-02,\n             5.99400000e-02,   6.33162500e-02,   6.67850000e-02,\n             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2.13897986e-01,\n             2.17031981e-01,   2.20188768e-01,   2.23368349e-01,\n             2.26570721e-01,   2.29795887e-01,   2.33043845e-01,\n             2.36314596e-01,   2.39608139e-01,   2.42924475e-01,\n             2.46263604e-01,   2.49625526e-01,   2.53010240e-01,\n             2.56417747e-01,   2.59848047e-01,   2.63301139e-01,\n             2.66777024e-01,   2.70275702e-01,   2.73797172e-01,\n             2.77341435e-01,   2.80908491e-01,   2.84498339e-01,\n             2.88110981e-01,   2.91746414e-01,   2.95404641e-01,\n             2.99085660e-01,   3.02789472e-01,   3.06516077e-01,\n             3.10265474e-01,   3.14037664e-01,   3.17832647e-01,\n             3.21650422e-01,   3.25490990e-01,   3.29354351e-01,\n             3.33240504e-01,   3.37149450e-01,   3.41081189e-01,\n             3.45035720e-01,   3.49013045e-01,   3.53013161e-01,\n             3.57036071e-01,   3.61081773e-01,   3.65150268e-01,\n             3.69241556e-01,   3.73355636e-01,   3.77492509e-01,\n             3.81652175e-01,   3.85834633e-01,   3.90039884e-01,\n             3.94267928e-01,   3.98518764e-01,   4.02792393e-01,\n             4.07088815e-01,   4.11408030e-01,   4.15750037e-01,\n             4.20114837e-01,   4.24502429e-01,   4.28912815e-01,\n             4.33345993e-01,   4.37801963e-01,   4.42280726e-01,\n             4.46782282e-01,   4.51306631e-01,   4.55853773e-01,\n             4.60423707e-01,   4.65016433e-01,   4.69631953e-01,\n             4.74270265e-01,   4.78931370e-01,   4.83615267e-01,\n             4.88321958e-01,   4.93051440e-01,   4.97803716e-01,\n             5.02578784e-01,   5.07376645e-01,   5.12197299e-01,\n             5.17040745e-01,   5.21906984e-01,   5.26796016e-01,\n             5.31707840e-01,   5.36642457e-01,   5.41599867e-01,\n             5.46580070e-01,   5.51583065e-01,   5.56592031e-01,\n             5.61578658e-01,   5.66542492e-01,   5.71483533e-01,\n             5.76401781e-01,   5.81297237e-01,   5.86169900e-01,\n             5.91019771e-01,   5.95846848e-01,   6.00651133e-01,\n             6.05432626e-01,   6.10191325e-01,   6.14927232e-01,\n             6.19640346e-01,   6.24330668e-01,   6.28998197e-01,\n             6.33642933e-01,   6.38264877e-01,   6.42864027e-01,\n             6.47440386e-01,   6.51993951e-01,   6.56524724e-01,\n             6.61032704e-01,   6.65517891e-01,   6.69980286e-01,\n             6.74419888e-01,   6.78836697e-01,   6.83230714e-01,\n             6.87601938e-01,   6.91950369e-01,   6.96276008e-01,\n             7.00578853e-01,   7.04858907e-01,   7.09116167e-01,\n             7.13350635e-01,   7.17562310e-01,   7.21751192e-01,\n             7.25917282e-01,   7.30060579e-01,   7.34181084e-01,\n             7.38278795e-01,   7.42353714e-01,   7.46405840e-01,\n             7.50435174e-01,   7.54441715e-01,   7.58425463e-01,\n             7.62386419e-01,   7.66324582e-01,   7.70239952e-01,\n             7.74132529e-01,   7.78002314e-01,   7.81849306e-01,\n             7.85673505e-01,   7.89474912e-01,   7.93253526e-01,\n             7.97009348e-01,   8.00742376e-01,   8.04452612e-01,\n             8.08140055e-01,   8.11804706e-01,   8.15446564e-01,\n             8.19065629e-01,   8.22661902e-01,   8.26235381e-01,\n             8.29786069e-01,   8.33313963e-01,   8.36819065e-01,\n             8.40301374e-01,   8.43760890e-01,   8.47197614e-01,\n             8.50611545e-01,   8.54002683e-01,   8.57371029e-01,\n             8.60716582e-01,   8.64039342e-01,   8.67339310e-01,\n             8.70616485e-01,   8.73870867e-01,   8.77102456e-01,\n             8.80311253e-01,   8.83497257e-01,   8.86660469e-01,\n             8.89800887e-01,   8.92918513e-01,   8.96013347e-01,\n             8.99085388e-01,   9.02134636e-01,   9.05161091e-01,\n             9.08164753e-01,   9.11145623e-01,   9.14103701e-01,\n             9.17038985e-01,   9.19951477e-01,   9.22841176e-01,\n             9.25708083e-01,   9.28552196e-01,   9.31373518e-01,\n             9.34172046e-01,   9.36947782e-01,   9.39700725e-01,\n             9.42430875e-01,   9.45138233e-01,   9.47822798e-01,\n             9.50484570e-01,   9.53123550e-01,   9.55739737e-01,\n             9.58333131e-01,   9.60903732e-01,   9.63451541e-01,\n             9.65976557e-01,   9.68478781e-01,   9.70958211e-01,\n             9.73414850e-01,   9.75848695e-01,   9.78259748e-01,\n             9.80648008e-01,   9.83013475e-01,   9.85356150e-01,\n             9.87676032e-01,   9.89973121e-01,   9.92247417e-01,\n             9.94498921e-01,   9.96727633e-01,   9.98933551e-01,\n             1.00111668e+00,   1.00327701e+00,   1.00541455e+00,\n             1.00752930e+00,   1.00962125e+00,   1.01169042e+00,\n             1.01373679e+00,   1.01576036e+00,   1.01776115e+00,\n             1.01973914e+00,   1.02169434e+00,   1.02362674e+00,\n             1.02553636e+00,   1.02742318e+00,   1.02928721e+00,\n             1.03112844e+00,   1.03294688e+00,   1.03474253e+00,\n             1.03651539e+00,   1.03826546e+00,   1.03999273e+00,\n             1.04169721e+00,   1.04337889e+00,   1.04503779e+00,\n             1.04667389e+00,   1.04828720e+00,   1.04987771e+00,\n             1.05144544e+00,   1.05299037e+00,   1.05451251e+00,\n             1.05601185e+00,   1.05748840e+00,   1.05894216e+00,\n             1.06037313e+00,   1.06178131e+00,   1.06316669e+00,\n             1.06452928e+00,   1.06586907e+00,   1.06718608e+00,\n             1.06848029e+00,   1.06975171e+00,   1.07100033e+00,\n             1.07222616e+00,   1.07342920e+00,   1.07460945e+00,\n             1.07576691e+00,   1.07690157e+00,   1.07801344e+00,\n             1.07910251e+00,   1.08016880e+00,   1.08121229e+00,\n             1.08223299e+00,   1.08323089e+00,   1.08420601e+00,\n             1.08515833e+00,   1.08608786e+00,   1.08699459e+00,\n             1.08787853e+00,   1.08873968e+00,   1.08957804e+00,\n             1.09039361e+00,   1.09118638e+00,   1.09195636e+00,\n             1.09270354e+00,   1.09342794e+00,   1.09412954e+00,\n             1.09480835e+00,   1.09546436e+00,   1.09609759e+00,\n             1.09670802e+00,   1.09729565e+00,   1.09786050e+00,\n             1.09840255e+00,   1.09892181e+00,   1.09941828e+00,\n             1.09989195e+00,   1.10034283e+00,   1.10077092e+00,\n             1.10117622e+00,   1.10155872e+00,   1.10191843e+00,\n             1.10225535e+00,   1.10256947e+00,   1.10286081e+00,\n             1.10312935e+00,   1.10337509e+00,   1.10359805e+00,\n             1.10379821e+00,   1.10397558e+00,   1.10413016e+00,\n             1.10426194e+00,   1.10437093e+00,   1.10445713e+00,\n             1.10452054e+00,   1.10456115e+00,   1.10457897e+00,\n             1.10457988e+00])[43:399]],1,full=True)\n    assert(all(array([  1.81305028e-09,   5.80200279e-01]) < 5e-5)) # make sure it matches the degree\n    array([[ 0.79999957,  0.69923824],\n           [-0.08648613, -0.21754692]]), array([  1.81305028e-09,   5.80200279e-01]), 2, array([ 1.38072121,  0.30595579]), 7.9047879353311146e-14 = polyfit(array([ 0.   ,  0.005,  0.01 ,  0.015,  0.02 ,  0.025,  0.03 ,  0.035,\n            0.04 ,  0.045,  0.05 ,  0.055,  0.06 ,  0.065,  0.07 ,  0.075,\n            0.08 ,  0.085,  0.09 ,  0.095,  0.1  ,  0.105,  0.11 ,  0.115,\n            0.12 ,  0.125,  0.13 ,  0.135,  0.14 ,  0.145,  0.15 ,  0.155,\n            0.16 ,  0.165,  0.17 ,  0.175,  0.18 ,  0.185,  0.19 ,  0.195,\n            0.2  ,  0.205,  0.21 ,  0.215,  0.22 ,  0.225,  0.23 ,  0.235,\n            0.24 ,  0.245,  0.25 ,  0.255,  0.26 ,  0.265,  0.27 ,  0.275,\n            0.28 ,  0.285,  0.29 ,  0.295,  0.3  ,  0.305,  0.31 ,  0.315,\n            0.32 ,  0.325,  0.33 ,  0.335,  0.34 ,  0.345,  0.35 ,  0.355,\n            0.36 ,  0.365,  0.37 ,  0.375,  0.38 ,  0.385,  0.39 ,  0.395,\n            0.4  ,  0.405,  0.41 ,  0.415,  0.42 ,  0.425,  0.43 ,  0.435,\n            0.44 ,  0.445,  0.45 ,  0.455,  0.46 ,  0.465,  0.47 ,  0.475,\n            0.48 ,  0.485,  0.49 ,  0.495,  0.5  ,  0.505,  0.51 ,  0.515,\n            0.52 ,  0.525,  0.53 ,  0.535,  0.54 ,  0.545,  0.55 ,  0.555,\n            0.56 ,  0.565,  0.57 ,  0.575,  0.58 ,  0.585,  0.59 ,  0.595,\n            0.6  ,  0.605,  0.61 ,  0.615,  0.62 ,  0.625,  0.63 ,  0.635,\n            0.64 ,  0.645,  0.65 ,  0.655,  0.66 ,  0.665,  0.67 ,  0.675,\n            0.68 ,  0.685,  0.69 ,  0.695,  0.7  ,  0.705,  0.71 ,  0.715,\n            0.72 ,  0.725,  0.73 ,  0.735,  0.74 ,  0.745,  0.75 ,  0.755,\n            0.76 ,  0.765,  0.77 ,  0.775,  0.78 ,  0.785,  0.79 ,  0.795,\n            0.8  ,  0.805,  0.81 ,  0.815,  0.82 ,  0.825,  0.83 ,  0.835,\n            0.84 ,  0.845,  0.85 ,  0.855,  0.86 ,  0.865,  0.87 ,  0.875,\n            0.88 ,  0.885,  0.89 ,  0.895,  0.9  ,  0.905,  0.91 ,  0.915,\n            0.92 ,  0.925,  0.93 ,  0.935,  0.94 ,  0.945,  0.95 ,  0.955,\n            0.96 ,  0.965,  0.97 ,  0.975,  0.98 ,  0.985,  0.99 ,  0.995,\n            1.   ,  1.005,  1.01 ,  1.015,  1.02 ,  1.025,  1.03 ,  1.035,\n            1.04 ,  1.045,  1.05 ,  1.055,  1.06 ,  1.065,  1.07 ,  1.075,\n            1.08 ,  1.085,  1.09 ,  1.095,  1.1  ,  1.105,  1.11 ,  1.115,\n            1.12 ,  1.125,  1.13 ,  1.135,  1.14 ,  1.145,  1.15 ,  1.155,\n            1.16 ,  1.165,  1.17 ,  1.175,  1.18 ,  1.185,  1.19 ,  1.195,\n            1.2  ,  1.205,  1.21 ,  1.215,  1.22 ,  1.225,  1.23 ,  1.235,\n            1.24 ,  1.245,  1.25 ,  1.255,  1.26 ,  1.265,  1.27 ,  1.275,\n            1.28 ,  1.285,  1.29 ,  1.295,  1.3  ,  1.305,  1.31 ,  1.315,\n            1.32 ,  1.325,  1.33 ,  1.335,  1.34 ,  1.345,  1.35 ,  1.355,\n            1.36 ,  1.365,  1.37 ,  1.375,  1.38 ,  1.385,  1.39 ,  1.395,\n            1.4  ,  1.405,  1.41 ,  1.415,  1.42 ,  1.425,  1.43 ,  1.435,\n            1.44 ,  1.445,  1.45 ,  1.455,  1.46 ,  1.465,  1.47 ,  1.475,\n            1.48 ,  1.485,  1.49 ,  1.495,  1.5  ,  1.505,  1.51 ,  1.515,\n            1.52 ,  1.525,  1.53 ,  1.535,  1.54 ,  1.545,  1.55 ,  1.555,\n            1.56 ,  1.565,  1.57 ,  1.575,  1.58 ,  1.585,  1.59 ,  1.595,\n            1.6  ,  1.605,  1.61 ,  1.615,  1.62 ,  1.625,  1.63 ,  1.635,\n            1.64 ,  1.645,  1.65 ,  1.655,  1.66 ,  1.665,  1.67 ,  1.675,\n            1.68 ,  1.685,  1.69 ,  1.695,  1.7  ,  1.705,  1.71 ,  1.715,\n            1.72 ,  1.725,  1.73 ,  1.735,  1.74 ,  1.745,  1.75 ,  1.755,\n            1.76 ,  1.765,  1.77 ,  1.775,  1.78 ,  1.785,  1.79 ,  1.795,\n            1.8  ,  1.805,  1.81 ,  1.815,  1.82 ,  1.825,  1.83 ,  1.835,\n            1.84 ,  1.845,  1.85 ,  1.855,  1.86 ,  1.865,  1.87 ,  1.875,\n            1.88 ,  1.885,  1.89 ,  1.895,  1.9  ,  1.905,  1.91 ,  1.915,\n            1.92 ,  1.925,  1.93 ,  1.935,  1.94 ,  1.945,  1.95 ,  1.955,\n            1.96 ,  1.965,  1.97 ,  1.975,  1.98 ,  1.985,  1.99 ,  1.995,\n            2.   ,  2.005,  2.01 ,  2.015,  2.02 ,  2.025,  2.03 ,  2.035,\n            2.04 ,  2.045,  2.05 ,  2.055,  2.06 ,  2.065,  2.07 ,  2.075,\n            2.08 ,  2.085,  2.09 ,  2.095,  2.1  ,  2.105,  2.11 ,  2.115,\n            2.12 ,  2.125,  2.13 ,  2.135,  2.14 ,  2.145,  2.15 ,  2.155,\n            2.16 ,  2.165,  2.17 ,  2.175,  2.18 ,  2.185,  2.19 ,  2.195,\n            2.2  ,  2.205])[399:],<numpy.lib.index_tricks.CClass object at 0x7f21eb3ba3d0>[array([  0.00000000e+00,   4.62500000e-05,   1.85000000e-04,\n             4.16250000e-04,   7.40000000e-04,   1.15625000e-03,\n             1.66500000e-03,   2.26625000e-03,   2.96000000e-03,\n             3.74625000e-03,   4.62500000e-03,   5.59625000e-03,\n             6.66000000e-03,   7.81625000e-03,   9.06500000e-03,\n             1.04062500e-02,   1.18400000e-02,   1.33662500e-02,\n             1.49850000e-02,   1.66962500e-02,   1.85000000e-02,\n             2.03962500e-02,   2.23850000e-02,   2.44662500e-02,\n             2.66400000e-02,   2.89062500e-02,   3.12650000e-02,\n             3.37162500e-02,   3.62600000e-02,   3.88962500e-02,\n             4.16250000e-02,   4.44462500e-02,   4.73600000e-02,\n             5.03662500e-02,   5.34650000e-02,   5.66562500e-02,\n             5.99400000e-02,   6.33162500e-02,   6.67850000e-02,\n             7.03462500e-02,   7.40000000e-02,   7.77462500e-02,\n             8.15850000e-02,   8.55162500e-02,   8.95135135e-02,\n             9.35135135e-02,   9.75135135e-02,   1.01513514e-01,\n             1.05513514e-01,   1.09513514e-01,   1.13513514e-01,\n             1.17513514e-01,   1.21513514e-01,   1.25513514e-01,\n             1.29513514e-01,   1.33513514e-01,   1.37513514e-01,\n             1.41513514e-01,   1.45513514e-01,   1.49513514e-01,\n             1.53513514e-01,   1.57513514e-01,   1.61513514e-01,\n             1.65513514e-01,   1.69513514e-01,   1.73513514e-01,\n             1.77513514e-01,   1.81513514e-01,   1.85513514e-01,\n             1.89513514e-01,   1.93513514e-01,   1.97513514e-01,\n             2.01513514e-01,   2.05513514e-01,   2.09513514e-01,\n             2.13513514e-01,   2.17513514e-01,   2.21513514e-01,\n             2.25513514e-01,   2.29513514e-01,   2.33513514e-01,\n             2.37513514e-01,   2.41513514e-01,   2.45513514e-01,\n             2.49513514e-01,   2.53513514e-01,   2.57513514e-01,\n             2.61513514e-01,   2.65513514e-01,   2.69513514e-01,\n             2.73513514e-01,   2.77513514e-01,   2.81513514e-01,\n             2.85513514e-01,   2.89513514e-01,   2.93513514e-01,\n             2.97513514e-01,   3.01513514e-01,   3.05513514e-01,\n             3.09513514e-01,   3.13513514e-01,   3.17513514e-01,\n             3.21513514e-01,   3.25513514e-01,   3.29513514e-01,\n             3.33513514e-01,   3.37513514e-01,   3.41513514e-01,\n             3.45513514e-01,   3.49513514e-01,   3.53513514e-01,\n             3.57513514e-01,   3.61513514e-01,   3.65513514e-01,\n             3.69513514e-01,   3.73513514e-01,   3.77513514e-01,\n             3.81513514e-01,   3.85513514e-01,   3.89513514e-01,\n             3.93513514e-01,   3.97513514e-01,   4.01513514e-01,\n             4.05513514e-01,   4.09513514e-01,   4.13513514e-01,\n             4.17513514e-01,   4.21513514e-01,   4.25513514e-01,\n             4.29513514e-01,   4.33513514e-01,   4.37513514e-01,\n             4.41513514e-01,   4.45513514e-01,   4.49513514e-01,\n             4.53513514e-01,   4.57513514e-01,   4.61513514e-01,\n             4.65513514e-01,   4.69513514e-01,   4.73513514e-01,\n             4.77513514e-01,   4.81513514e-01,   4.85513514e-01,\n             4.89513514e-01,   4.93513514e-01,   4.97513514e-01,\n             5.01513514e-01,   5.05513514e-01,   5.09513514e-01,\n             5.13513514e-01,   5.17513514e-01,   5.21513514e-01,\n             5.25513514e-01,   5.29513514e-01,   5.33513514e-01,\n             5.37513514e-01,   5.41513514e-01,   5.45513514e-01,\n             5.49513514e-01,   5.53513514e-01,   5.57513514e-01,\n             5.61513514e-01,   5.65513514e-01,   5.69513514e-01,\n             5.73513514e-01,   5.77513514e-01,   5.81513514e-01,\n             5.85513514e-01,   5.89513514e-01,   5.93513514e-01,\n             5.97513514e-01,   6.01513514e-01,   6.05513514e-01,\n             6.09513514e-01,   6.13513514e-01,   6.17513514e-01,\n             6.21513514e-01,   6.25513514e-01,   6.29513514e-01,\n             6.33513514e-01,   6.37513514e-01,   6.41513514e-01,\n             6.45513514e-01,   6.49513514e-01,   6.53513514e-01,\n             6.57513514e-01,   6.61513514e-01,   6.65513514e-01,\n             6.69513514e-01,   6.73513514e-01,   6.77513514e-01,\n             6.81513514e-01,   6.85513514e-01,   6.89513514e-01,\n             6.93513514e-01,   6.97513514e-01,   7.01513514e-01,\n             7.05513514e-01,   7.09513514e-01,   7.13513514e-01,\n             7.17513514e-01,   7.21513514e-01,   7.25513514e-01,\n             7.29513514e-01,   7.33513514e-01,   7.37513514e-01,\n             7.41513514e-01,   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8.99085388e-01,   9.02134636e-01,   9.05161091e-01,\n             9.08164753e-01,   9.11145623e-01,   9.14103701e-01,\n             9.17038985e-01,   9.19951477e-01,   9.22841176e-01,\n             9.25708083e-01,   9.28552196e-01,   9.31373518e-01,\n             9.34172046e-01,   9.36947782e-01,   9.39700725e-01,\n             9.42430875e-01,   9.45138233e-01,   9.47822798e-01,\n             9.50484570e-01,   9.53123550e-01,   9.55739737e-01,\n             9.58333131e-01,   9.60903732e-01,   9.63451541e-01,\n             9.65976557e-01,   9.68478781e-01,   9.70958211e-01,\n             9.73414850e-01,   9.75848695e-01,   9.78259748e-01,\n             9.80648008e-01,   9.83013475e-01,   9.85356150e-01,\n             9.87676032e-01,   9.89973121e-01,   9.92247417e-01,\n             9.94498921e-01,   9.96727633e-01,   9.98933551e-01,\n             1.00111668e+00,   1.00327701e+00,   1.00541455e+00,\n             1.00752930e+00,   1.00962125e+00,   1.01169042e+00,\n             1.01373679e+00,   1.01576036e+00,   1.01776115e+00,\n             1.01973914e+00,   1.02169434e+00,   1.02362674e+00,\n             1.02553636e+00,   1.02742318e+00,   1.02928721e+00,\n             1.03112844e+00,   1.03294688e+00,   1.03474253e+00,\n             1.03651539e+00,   1.03826546e+00,   1.03999273e+00,\n             1.04169721e+00,   1.04337889e+00,   1.04503779e+00,\n             1.04667389e+00,   1.04828720e+00,   1.04987771e+00,\n             1.05144544e+00,   1.05299037e+00,   1.05451251e+00,\n             1.05601185e+00,   1.05748840e+00,   1.05894216e+00,\n             1.06037313e+00,   1.06178131e+00,   1.06316669e+00,\n             1.06452928e+00,   1.06586907e+00,   1.06718608e+00,\n             1.06848029e+00,   1.06975171e+00,   1.07100033e+00,\n             1.07222616e+00,   1.07342920e+00,   1.07460945e+00,\n             1.07576691e+00,   1.07690157e+00,   1.07801344e+00,\n             1.07910251e+00,   1.08016880e+00,   1.08121229e+00,\n             1.08223299e+00,   1.08323089e+00,   1.08420601e+00,\n             1.08515833e+00,   1.08608786e+00,   1.08699459e+00,\n             1.08787853e+00,   1.08873968e+00,   1.08957804e+00,\n             1.09039361e+00,   1.09118638e+00,   1.09195636e+00,\n             1.09270354e+00,   1.09342794e+00,   1.09412954e+00,\n             1.09480835e+00,   1.09546436e+00,   1.09609759e+00,\n             1.09670802e+00,   1.09729565e+00,   1.09786050e+00,\n             1.09840255e+00,   1.09892181e+00,   1.09941828e+00,\n             1.09989195e+00,   1.10034283e+00,   1.10077092e+00,\n             1.10117622e+00,   1.10155872e+00,   1.10191843e+00,\n             1.10225535e+00,   1.10256947e+00,   1.10286081e+00,\n             1.10312935e+00,   1.10337509e+00,   1.10359805e+00,\n             1.10379821e+00,   1.10397558e+00,   1.10413016e+00,\n             1.10426194e+00,   1.10437093e+00,   1.10445713e+00,\n             1.10452054e+00,   1.10456115e+00,   1.10457897e+00,\n             1.10457988e+00])[399:]],2,full=True)\n    assert(all(array([  1.81305028e-09,   5.80200279e-01]) < 5e-5)) # make sure it matches the degree\n    \n')], [], {})
test_trajectory.TestTrajectory.test_ikparamretiming ... FAIL
noseplugins.multiprocess 2017-10-13 12:05:06,660: DEBUG Ran 1 tests (total: 126)
noseplugins.multiprocess 2017-10-13 12:05:06,660: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:06,668: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:06,677: DEBUG Waiting for results (142/178 tasks), next timeout=944.828s
noseplugins.multiprocess 2017-10-13 12:05:06,686: DEBUG Worker 0 executing, pid=8405
noseplugins.multiprocess 2017-10-13 12:05:06,688: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_overwritetraj (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:06,688: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c1e0>
2017-10-13 12:05:06,689 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,723 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:06,724: DEBUG suite 139783299248464 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c280>
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
noseplugins.multiprocess 2017-10-13 12:05:06,727: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:06,728: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_overwritetraj(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:06,728: DEBUG batch result is ('test_trajectory.TestTrajectory.test_overwritetraj ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_overwritetraj ... ok
noseplugins.multiprocess 2017-10-13 12:05:06,728: DEBUG Ran 1 tests (total: 127)
noseplugins.multiprocess 2017-10-13 12:05:06,728: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:06,733: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:06,743: DEBUG Waiting for results (143/178 tasks), next timeout=944.762s
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
noseplugins.multiprocess 2017-10-13 12:05:06,752: DEBUG Worker 0 executing, pid=8415
noseplugins.multiprocess 2017-10-13 12:05:06,754: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_reverse (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:06,754: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c1e0>
2017-10-13 12:05:06,755 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,789 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:06,790: DEBUG suite 139783299248528 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c280>
openravepytest.TestTrajectory.LoadEnv (pid=8415): ('data/lab1.env.xml',), {}
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
2017-10-13 12:05:06,654 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd49108e0)
noseplugins.multiprocess 2017-10-13 12:05:07,057: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:07,058: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_grabonly(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:07,058: DEBUG batch result is ('test_trajectory.TestTrajectory.test_grabonly ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_grabonly ... ok
noseplugins.multiprocess 2017-10-13 12:05:07,058: DEBUG Ran 1 tests (total: 128)
noseplugins.multiprocess 2017-10-13 12:05:07,058: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:07,069: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:07,079: DEBUG Waiting for results (144/178 tasks), next timeout=944.426s
noseplugins.multiprocess 2017-10-13 12:05:07,088: DEBUG Worker 3 executing, pid=8426
noseplugins.multiprocess 2017-10-13 12:05:07,089: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_robotdoortraj (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:07,089: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c1e0>
2017-10-13 12:05:07,090 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:07,123 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:07,124: DEBUG suite 139783299248464 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c280>
openravepytest.TestTrajectory.LoadEnv (pid=8426): ('data/wam_cabinet.env.xml',), {}
2017-10-13 12:05:07,606 openrave [WARN] [trajectoryretimer.h:111 PlannerStatus rplanners::TrajectoryRetimer::PlanPath] trajectory does not have timestamps, even though parameters say timestamps are needed
2017-10-13 12:05:07,665 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 12 value is not in limits 0.000000e+00<1.150000e-02
2017-10-13 12:05:07,665 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 18 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:07,665 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 20 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:07,665 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 30 value is not in limits 0.000000e+00<-1.500001e-01
2017-10-13 12:05:07,665 openrave [WARN] [kinbody.cpp:1535 KinBody::SetDOFValues] dof 32 value is not in limits 0.000000e+00<-1.000000e-01
2017-10-13 12:05:07,669 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,714 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,715 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,735 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,735 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
noseplugins.multiprocess 2017-10-13 12:05:07,754: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:05:07,755: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_multipleretiming(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:07,755: DEBUG batch result is ('test_trajectory.TestTrajectory.test_multipleretiming ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e474d0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 330, in test_multipleretiming\n    assert(retimer2.PlanPath(testtraj,False)==PlannerStatus.HasSolution)\nAssertionError: \n    assert(<openravepy._openravepy_.openravepy_int.ActiveDOFTrajectoryRetimer object at 0x7f21d5e9f9f0>.PlanPath(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\'),False)==PlannerStatus.HasSolution)\n    assert(abs(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').GetDuration()-RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').GetDuration()) <= 1e-07)\n    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\') = RaveClone(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\'), 0)\n>>  assert(<openravepy._openravepy_.openravepy_int.ActiveDOFTrajectoryRetimer object at 0x7f21d5e39e10>.PlanPath(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\'),False)==PlannerStatus.HasSolution)\n    assert( abs(modf(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').GetDuration()/0.0071111111111111115+0.5)[0]-0.5) <= 0.01 ) # has to be a multiple\n    \n')], [], {})
test_trajectory.TestTrajectory.test_multipleretiming ... FAIL
noseplugins.multiprocess 2017-10-13 12:05:07,755: DEBUG Ran 1 tests (total: 129)
noseplugins.multiprocess 2017-10-13 12:05:07,755: DEBUG joining worker 4
2017-10-13 12:05:07,757 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,757 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,757 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,757 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
noseplugins.multiprocess 2017-10-13 12:05:07,763: DEBUG starting new process on worker 4
2017-10-13 12:05:07,766 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,766 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,769 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
noseplugins.multiprocess 2017-10-13 12:05:07,772: DEBUG Waiting for results (145/178 tasks), next timeout=943.733s
noseplugins.multiprocess 2017-10-13 12:05:07,781: DEBUG Worker 4 executing, pid=8436
noseplugins.multiprocess 2017-10-13 12:05:07,783: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_segmenttraj2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:07,783: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c1e0>
2017-10-13 12:05:07,784 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:07,787 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,787 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,809 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,809 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,809 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,809 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,818 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
2017-10-13 12:05:07,818 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_footprint with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
noseplugins.multiprocess 2017-10-13 12:05:07,819: DEBUG suite 139783299248464 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c230>
noseplugins.multiprocess 2017-10-13 12:05:07,822: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:05:07,822: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_segmenttraj2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:07,822: DEBUG batch result is ('test_trajectory.TestTrajectory.test_segmenttraj2 ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e475a8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\nTypeError: test_segmenttraj2() takes no arguments (1 given)\n')], {})
test_trajectory.TestTrajectory.test_segmenttraj2 ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:07,823: DEBUG Ran 1 tests (total: 130)
noseplugins.multiprocess 2017-10-13 12:05:07,823: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:05:07,828: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:05:07,837: DEBUG Waiting for results (146/178 tasks), next timeout=943.668s
noseplugins.multiprocess 2017-10-13 12:05:07,846: DEBUG Worker 4 executing, pid=8446
noseplugins.multiprocess 2017-10-13 12:05:07,848: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_simpleretiming (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:07,848: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5d1e0>
2017-10-13 12:05:07,849 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/head_plate_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/projector_wg6802418_child_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/sensor_mount_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/double_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/narrow_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_l_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,862 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,863 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_gazebo_r_stereo_camera_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,863 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/wide_stereo_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,863 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,863 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/high_def_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,881 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,881 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,884 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:07,884: DEBUG suite 139783299252560 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5d1e0>
openravepytest.TestTrajectory.LoadRobot (pid=8446): ('robots/pumaarm.zae',), {}
2017-10-13 12:05:07,902 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,902 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,902 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,902 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,911 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,911 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,914 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/laser_tilt_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,932 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,932 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_forearm_cam_optical_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2796 Real ParabolicRampInternal::SolveMinTimeBounded] SolveMinTime for joint 0 successful with duration = 6.999990549708064e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2797 Real ParabolicRampInternal::SolveMinTimeBounded] ParabolicRamp1D info: x0 = -1.570796292797149e+00; x1 = 1.570796284943565e+00; v0 = 0.000000000000000e+00; v1 = 0.000000000000000e+00; vm = 7.854000000000000e+00; am = 2.618000000000000e+01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2835 Real ParabolicRampInternal::SolveMinTimeBounded] ramp 0 total duration = 6.999990549708064e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2796 Real ParabolicRampInternal::SolveMinTimeBounded] SolveMinTime for joint 1 successful with duration = 4.058594295271740e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2797 Real ParabolicRampInternal::SolveMinTimeBounded] ParabolicRamp1D info: x0 = -5.115644004003523e-01; x1 = 2.970141110463421e-01; v0 = 0.000000000000000e+00; v1 = 0.000000000000000e+00; vm = 7.854000000000000e+00; am = 1.963500000000000e+01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2835 Real ParabolicRampInternal::SolveMinTimeBounded] ramp 1 total duration = 4.058594295271740e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2796 Real ParabolicRampInternal::SolveMinTimeBounded] SolveMinTime for joint 2 successful with duration = 3.006151809548332e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2797 Real ParabolicRampInternal::SolveMinTimeBounded] ParabolicRamp1D info: x0 = 2.725522815918341e+00; x1 = 2.387540934461644e+00; v0 = 0.000000000000000e+00; v1 = 0.000000000000000e+00; vm = 5.236000000000000e+00; am = 1.496000000000000e+01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2835 Real ParabolicRampInternal::SolveMinTimeBounded] ramp 2 total duration = 3.006151809548332e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2796 Real ParabolicRampInternal::SolveMinTimeBounded] SolveMinTime for joint 3 successful with duration = 8.666651315786417e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2797 Real ParabolicRampInternal::SolveMinTimeBounded] ParabolicRamp1D info: x0 = 3.141592783163602e+00; x1 = -3.141592748938780e+00; v0 = 0.000000000000000e+00; v1 = 0.000000000000000e+00; vm = 9.424799999999999e+00; am = 4.712400000000000e+01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2835 Real ParabolicRampInternal::SolveMinTimeBounded] ramp 3 total duration = 8.666651315786417e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2796 Real ParabolicRampInternal::SolveMinTimeBounded] SolveMinTime for joint 4 successful with duration = 2.278800924440695e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2797 Real ParabolicRampInternal::SolveMinTimeBounded] ParabolicRamp1D info: x0 = 6.431620887230958e-01; x1 = 1.113758718713092e+00; v0 = 0.000000000000000e+00; v1 = 0.000000000000000e+00; vm = 1.087470000000000e+01; am = 3.624900000000000e+01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2835 Real ParabolicRampInternal::SolveMinTimeBounded] ramp 4 total duration = 2.278800924440695e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2796 Real ParabolicRampInternal::SolveMinTimeBounded] SolveMinTime for joint 5 successful with duration = 7.999988191858822e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2797 Real ParabolicRampInternal::SolveMinTimeBounded] ParabolicRamp1D info: x0 = 6.283185290916968e+00; x1 = 1.294994973477515e-07; v0 = 0.000000000000000e+00; v1 = 0.000000000000000e+00; vm = 1.256640000000000e+01; am = 4.188800000000000e+01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2835 Real ParabolicRampInternal::SolveMinTimeBounded] ramp 5 total duration = 7.999988191858822e-01
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2841 Real ParabolicRampInternal::SolveMinTimeBounded] Maximum duration = 8.666651315786417e-01 from joint 3
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,945 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 4.333325657893211e-01, 4.333325657893211e-01, 8.666651315786417e-01 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 4.549991940787871e-01, 4.549991940787871e-01, 9.099983881575738e-01 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 4.777491537827264e-01, 4.777491537827264e-01, 9.554983075654526e-01 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 5.016366114718628e-01, 5.016366114718628e-01, 1.003273222943725e+00 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 5.267184420454559e-01, 5.267184420454559e-01, 1.053436884090912e+00 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 5.530543641477288e-01, 5.530543641477288e-01, 1.106108728295457e+00 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 5.807070823551153e-01, 5.807070823551153e-01, 1.161414164710230e+00 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 6.097424364728711e-01, 6.097424364728711e-01, 1.219484872945742e+00 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3027 Real ParabolicRampInternal::SolveMinTimeBounded] failed to set correct ramp switch times 6.402295582965146e-01, 6.402295582965146e-01, 1.280459116593029e+00 for index 3, trying to re-time it!
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:2871 Real ParabolicRampInternal::SolveMinTimeBounded] joint 3 is already the slowest, continue to the next DOF
2017-10-13 12:05:07,946 openrave [VERBOSE] [ParabolicRamp.cpp:3106 SolveAccelBounded] numDilationTries = 0
2017-10-13 12:05:07,953 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_slider_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,954 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,954 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_led_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,954 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_motor_accelerometer_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_l_finger_tip_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_gripper_tool_frame with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/imu_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/l_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/r_torso_lift_side_plate_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/torso_lift_motor_screw_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_bellow_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
2017-10-13 12:05:07,962 openrave [WARN] [fclspace.h:248 FCLSpace::KinBodyInfoPtr fclrave::FCLSpace::InitKinBody] Initializing link pr2/base_laser_link with 0 geometries (env 1) (userdatakey fclcollision0x555cd490dc70)
noseplugins.multiprocess 2017-10-13 12:05:07,977: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:07,977: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_merging(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:07,978: DEBUG batch result is ('test_trajectory.TestTrajectory.test_merging ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e47758>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 26, in test_merging\n    traj1=basemanip.MoveToHandPosition(matrices=[Tgoal1],execute=False,outputtrajobj=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 230, in MoveToHandPosition\n    res = self.prob.SendCommand(cmd, releasegil=releasegil)\nopenrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::IkSolverBase; typename boost::detail::sp_member_access<T>::type = OpenRAVE::IkSolverBase*], expr: px != 0\n')], {})
test_trajectory.TestTrajectory.test_merging ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:07,978: DEBUG Ran 1 tests (total: 131)
noseplugins.multiprocess 2017-10-13 12:05:07,978: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:05:07,994: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:05:08,003: DEBUG Waiting for results (147/178 tasks), next timeout=943.501s
noseplugins.multiprocess 2017-10-13 12:05:08,012: DEBUG Worker 6 executing, pid=8456
noseplugins.multiprocess 2017-10-13 12:05:08,013: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_smoothing (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:08,014: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c280>
2017-10-13 12:05:08,014 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:08,022 openrave [VERBOSE] [environment-core.h:226 Destroy] Environment destructor
2017-10-13 12:05:08,022 openrave [DEBUG] [environment-core.h:231 Destroy] destroy module
2017-10-13 12:05:08,022 openrave [VERBOSE] [fclcollision.h:336 FCLCollisionChecker::DestroyEnvironment] FCL User data destroying fclcollision0x555cd5cf7ed0 in env 1
2017-10-13 12:05:08,022 openrave [VERBOSE] [fclspace.h:179 FCLSpace::DestroyEnvironment] destroying fcl collision environment (env 1) (userdatakey fclcollision0x555cd5cf7ed0)
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link PUMA:Base col=0x555cd60b7160
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link PUMA:Puma1 col=0x555cd61081c0
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link PUMA:Puma2 col=0x555cd6109df0
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link PUMA:Puma3 col=0x555cd617a7c0
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link PUMA:Puma4 col=0x555cd6177c00
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link PUMA:Puma5 col=0x555cd61091c0
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:86 FCLSpace::KinBodyInfo::LINK::Reset] env=1, resetting link PUMA:Puma6 col=0x555cd6176a40
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclcollision.h:141 FCLCollisionChecker::~FCLCollisionChecker] FCLCollisionChecker fclcollision0x555cd5cf7ed0 destroyed in env 1
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclcollision.h:336 FCLCollisionChecker::DestroyEnvironment] FCL User data destroying fclcollision0x555cd5cf7ed0 in env 1
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:179 FCLSpace::DestroyEnvironment] destroying fcl collision environment (env 1) (userdatakey fclcollision0x555cd5cf7ed0)
2017-10-13 12:05:08,023 openrave [VERBOSE] [fclspace.h:179 FCLSpace::DestroyEnvironment] destroying fcl collision environment (env 1) (userdatakey fclcollision0x555cd5cf7ed0)
2017-10-13 12:05:08,023 openrave [VERBOSE] [environment-core.h:294 Destroy] Environment destroyed
2017-10-13 12:05:08,023 openrave [DEBUG] [robot.cpp:354 RobotBase::SetController] default robot doesn't not support setting controllers (try GenericRobot)
2017-10-13 12:05:08,023 openrave [VERBOSE] [kinbody.cpp:195 KinBody::~KinBody] destroying kinbody: PUMA
2017-10-13 12:05:08,023 openrave [VERBOSE] [environment-core.h:219 Destroy] environment is already destroyed
2017-10-13 12:05:08,023 openrave [VERBOSE] [colladacommon.cpp:47 SetGlobalDAE] resetting global collada DAE
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:504 RaveDatabase::Destroy] plugin database shutting down...
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbasecontrollers.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbaserobots.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbasesamplers.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libbasesensors.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libconfigurationcache.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libdualmanipulation.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libgrasper.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libikfastsolvers.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/liblogging.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libpqprave.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/librmanipulation.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/librplanners.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libtextserver.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libqtcoinrave.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/liboderave.so
2017-10-13 12:05:08,025 openrave [DEBUG] [plugindatabase.h:116 RaveDatabase::Plugin::Destroy] RaveDatabase: closing plugin /home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/openrave/plugins/libfclrave.so
2017-10-13 12:05:08,026 openrave [DEBUG] [plugindatabase.h:526 RaveDatabase::Destroy] openrave plugin database destroyed
2017-10-13 12:05:08,026 openrave [DEBUG] [plugindatabase.h:504 RaveDatabase::Destroy] plugin database shutting down...
2017-10-13 12:05:08,026 openrave [DEBUG] [plugindatabase.h:526 RaveDatabase::Destroy] openrave plugin database destroyed
noseplugins.multiprocess 2017-10-13 12:05:08,026: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:05:08,026: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_simpleretiming(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:08,027: DEBUG batch result is ('test_trajectory.TestTrajectory.test_simpleretiming ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e47830>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 383, in test_simpleretiming\n    assert( abs(traj.GetDuration()-0.910222222222) < g_epsilon)\nAssertionError: \n    RaveSetDebugLevel(DebugLevel.Verbose)\n    openravepy._openravepy_.openravepy_int.PlannerStatus.HasSolution=<openravepy._openravepy_.openravepy_int.ActiveDOFTrajectoryRetimer object at 0x7f21d5e39e68>.PlanPath(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\'),False)\n    assert(openravepy._openravepy_.openravepy_int.PlannerStatus.HasSolution == PlannerStatus.HasSolution)\n>>  assert( abs(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').GetDuration()-0.910222222222) < 1e-07)\n    <test_trajectory.TestTrajectory object at 0x7f21d5e5c0d0>.RunTrajectory(RaveGetEnvironment(1).GetRobot(\'PUMA\'), RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\'))\n    \n')], [], {})
test_trajectory.TestTrajectory.test_simpleretiming ... FAIL
noseplugins.multiprocess 2017-10-13 12:05:08,027: DEBUG Ran 1 tests (total: 132)
noseplugins.multiprocess 2017-10-13 12:05:08,027: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:05:08,033: DEBUG starting new process on worker 4
noseplugins.multiprocess 2017-10-13 12:05:08,042: DEBUG Waiting for results (148/178 tasks), next timeout=943.462s
2017-10-13 12:05:08,047 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:08,048: DEBUG suite 139783299256656 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c280>
openravepytest.TestTrajectory.LoadEnv (pid=8456): ('data/katanatable.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:08,052: DEBUG Worker 4 executing, pid=8465
noseplugins.multiprocess 2017-10-13 12:05:08,053: DEBUG Worker 4 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_smoothingsamepoint (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:08,054: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
2017-10-13 12:05:08,054 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:08,089 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:08,090: DEBUG suite 139783299488656 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
openravepytest.TestTrajectory.LoadEnv (pid=8465): ('data/lab1.env.xml',), {}
2017-10-13 12:05:08,103 openrave [WARN] [kinbody.cpp:3335 KinBody::_ComputeInternalInformation] whiteboard link index 0 has no name
2017-10-13 12:05:08,103 openrave [WARN] [kinbody.cpp:3335 KinBody::_ComputeInternalInformation] whiteboard link index 1 has no name
noseplugins.multiprocess 2017-10-13 12:05:08,422: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:08,422: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_reverse(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:08,422: DEBUG batch result is ('test_trajectory.TestTrajectory.test_reverse ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_reverse ... ok
noseplugins.multiprocess 2017-10-13 12:05:08,422: DEBUG Ran 1 tests (total: 133)
noseplugins.multiprocess 2017-10-13 12:05:08,422: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:08,430: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:08,439: DEBUG Waiting for results (149/178 tasks), next timeout=943.065s
noseplugins.multiprocess 2017-10-13 12:05:08,449: DEBUG Worker 0 executing, pid=8476
noseplugins.multiprocess 2017-10-13 12:05:08,451: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_smoothwithcircular (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:08,451: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
2017-10-13 12:05:08,452 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:08,485 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:08,486: DEBUG suite 139783299489040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
openravepytest.TestTrajectory.test_smoothwithcircular (pid=8476): test smoothing with circular joints
openravepytest.TestTrajectory.LoadEnv (pid=8476): ('data/pa10calib.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:08,573: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:08,574: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_robotdoortraj(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:08,574: DEBUG batch result is ('test_trajectory.TestTrajectory.test_robotdoortraj ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e47a28>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 635, in test_robotdoortraj\n    self.env.StepSimulation(0.01)\nopenrave_exception: openrave (Assert): robot BarrettWAM dof 0 is violating max velocity displacement 4.796659160759716e-01 > 1.570900000000000e-02, time=0.010000\n')], {})
test_trajectory.TestTrajectory.test_robotdoortraj ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:08,574: DEBUG Ran 1 tests (total: 134)
noseplugins.multiprocess 2017-10-13 12:05:08,574: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:08,585: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:08,594: DEBUG Waiting for results (150/178 tasks), next timeout=942.911s
noseplugins.multiprocess 2017-10-13 12:05:08,603: DEBUG Worker 3 executing, pid=8486
noseplugins.multiprocess 2017-10-13 12:05:08,605: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_worktraj (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:08,605: DEBUG suite 139783299538576 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c0f0>
2017-10-13 12:05:08,606 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:08,638 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:08,638: DEBUG suite 139783299489296 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=TestTrajectory>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c0f0>
noseplugins.multiprocess 2017-10-13 12:05:08,642: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:08,643: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_worktraj(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:08,643: DEBUG batch result is ('test_trajectory.TestTrajectory.test_worktraj ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_worktraj ... ok
noseplugins.multiprocess 2017-10-13 12:05:08,643: DEBUG Ran 1 tests (total: 135)
noseplugins.multiprocess 2017-10-13 12:05:08,643: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:08,649: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:08,657: DEBUG Waiting for results (151/178 tasks), next timeout=942.847s
noseplugins.multiprocess 2017-10-13 12:05:08,667: DEBUG Worker 3 executing, pid=8496
noseplugins.multiprocess 2017-10-13 12:05:08,668: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_activedofdistance (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:08,669: DEBUG suite 139783299337936 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5c050>
2017-10-13 12:05:08,669 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:08,702 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:08,702: DEBUG suite 139783471665424 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e5e050>
openravepytest.test_fcl.LoadEnv (pid=8496): ('data/lab1.env.xml',), {}
2017-10-13 12:05:08,705 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,705 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,706 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,708 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,709 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,711 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,712 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,714 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,714 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,715 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,715 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,715 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,715 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,716 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,717 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,717 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
2017-10-13 12:05:08,717 openrave [WARN] [colladareader.cpp:2233 ColladaReader::FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
noseplugins.multiprocess 2017-10-13 12:05:08,724: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:05:08,725: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py:TestIkFast.test_kawada_hironx_lefttorso(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:08,725: DEBUG batch result is ('test_ikfast_mandatory.TestIkFast.test_kawada_hironx_lefttorso ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e47d88>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 183, in test_kawada_hironx_lefttorso\n    self.RunIkFast(\'robots/kawada-hironx.zae\',\'leftarm_torso\', IkParameterizationType.Transform6D, [0], expectedruntime=0.0016, minimumsuccess=0.989)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 74, in RunIkFast\n    ikmodel.generate(iktype=iktype,forceikbuild=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2950, in solveFullIK_6D\n    tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3250, in solveFullIK_6DGeneral\n    usedinequs = any([var in rawpolyeqs[0][0].gens or var in rawpolyeqs[0][1] for var in self.Variable(solvejointvar).vars])\nTypeError: argument of type \'Poly\' is not iterable\n')], {})
test_ikfast_mandatory.TestIkFast.test_kawada_hironx_lefttorso ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:08,725: DEBUG Ran 1 tests (total: 136)
noseplugins.multiprocess 2017-10-13 12:05:08,725: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:05:08,733: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:05:08,742: DEBUG Waiting for results (152/178 tasks), next timeout=993.134s
noseplugins.multiprocess 2017-10-13 12:05:08,751: DEBUG Worker 1 executing, pid=8506
noseplugins.multiprocess 2017-10-13 12:05:08,753: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_attachedbodiescollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:08,753: DEBUG suite 139783299486608 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
2017-10-13 12:05:08,754 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:08,785 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:08,786: DEBUG suite 139783471665424 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
noseplugins.multiprocess 2017-10-13 12:05:08,788: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:05:08,789: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_attachedbodiescollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:08,789: DEBUG batch result is ('test_collision.test_fcl.test_attachedbodiescollision ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e47ea8>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py", line 87, in test_attachedbodiescollision\n    self.loadEnv(\'data/lab1.env.xml\')\nAttributeError: \'test_fcl\' object has no attribute \'loadEnv\'\n')], {})
test_collision.test_fcl.test_attachedbodiescollision ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:08,789: DEBUG Ran 1 tests (total: 137)
noseplugins.multiprocess 2017-10-13 12:05:08,789: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:05:08,796: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:05:08,805: DEBUG Waiting for results (153/178 tasks), next timeout=993.072s
noseplugins.multiprocess 2017-10-13 12:05:08,814: DEBUG Worker 1 executing, pid=8516
noseplugins.multiprocess 2017-10-13 12:05:08,816: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_basic (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:08,816: DEBUG suite 139783299337936 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
2017-10-13 12:05:08,817 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:08,850 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:08,851: DEBUG suite 139783299415632 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf50>
openravepytest.test_fcl.LoadEnv (pid=8516): ('data/hironxtable.env.xml',), {}
2017-10-13 12:05:09,233 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.001779
2017-10-13 12:05:09,356 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,357 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,358 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,359 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,361 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,362 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,363 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,364 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,365 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,366 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,367 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,368 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,369 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,370 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,372 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,373 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,374 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,375 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,376 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,377 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,378 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,379 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,381 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,382 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,383 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,384 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,385 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,386 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,387 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,388 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,389 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,390 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,391 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,392 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,393 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,395 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,396 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,397 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,398 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,399 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,400 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,401 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,402 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,403 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,404 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,405 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,406 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,408 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,409 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,410 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,411 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,412 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,414 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,415 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,416 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,417 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,418 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,419 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,420 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,421 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,422 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,424 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,425 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,426 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,427 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,428 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,429 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,430 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,431 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,433 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,434 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,435 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,436 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,437 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,438 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,440 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,441 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,442 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,443 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,444 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,445 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,446 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,447 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,449 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,450 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,451 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,452 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,453 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,454 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,455 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,456 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,458 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,459 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,460 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,461 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,462 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,463 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,464 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,465 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
2017-10-13 12:05:09,467 openrave [WARN] [parabolicsmoother.cpp:2228 ParabolicSmoother::_Shortcut2] accumulated ramps are empty!
noseplugins.multiprocess 2017-10-13 12:05:09,514: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:05:09,515: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_basic(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:09,515: DEBUG batch result is ('test_collision.test_fcl.test_basic ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_basic ... ok
noseplugins.multiprocess 2017-10-13 12:05:09,515: DEBUG Ran 1 tests (total: 138)
noseplugins.multiprocess 2017-10-13 12:05:09,515: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:05:09,522: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:05:09,531: DEBUG Waiting for results (154/178 tasks), next timeout=992.346s
noseplugins.multiprocess 2017-10-13 12:05:09,539: DEBUG Worker 1 executing, pid=8526
noseplugins.multiprocess 2017-10-13 12:05:09,541: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_collisioncaching (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:09,541: DEBUG suite 139783299486608 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf00>
2017-10-13 12:05:09,542 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:09,575 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:09,576: DEBUG suite 139783299415760 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cf00>
2017-10-13 12:05:09,698 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.001258
2017-10-13 12:05:09,785 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.001863
2017-10-13 12:05:10,483 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.001662
2017-10-13 12:05:10,509 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.000705
2017-10-13 12:05:10,541 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.001254
2017-10-13 12:05:10,688 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.000668
2017-10-13 12:05:10,743 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.001531
noseplugins.multiprocess 2017-10-13 12:05:10,762: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:10,762: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_activedofdistance(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:10,762: DEBUG batch result is ('test_collision.test_fcl.test_activedofdistance ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_activedofdistance ... ok
noseplugins.multiprocess 2017-10-13 12:05:10,762: DEBUG Ran 1 tests (total: 139)
noseplugins.multiprocess 2017-10-13 12:05:10,763: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:10,782: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:10,793: DEBUG Waiting for results (155/178 tasks), next timeout=991.084s
2017-10-13 12:05:10,831 openrave [WARN] [planningutils.cpp:2868 planningutils::DynamicsCollisionConstraint::Check] have to divide the arc in 315 steps even after original interpolation is done, timestep=0.001223
noseplugins.multiprocess 2017-10-13 12:05:10,836: DEBUG Worker 3 executing, pid=8536
noseplugins.multiprocess 2017-10-13 12:05:10,838: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_collisioncaching2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:10,838: DEBUG suite 139783299486608 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
2017-10-13 12:05:10,839 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:10,902 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:10,903: DEBUG suite 139783299415760 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ceb0>
noseplugins.multiprocess 2017-10-13 12:05:10,978: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:10,979: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_smoothwithcircular(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:10,979: DEBUG batch result is ('test_trajectory.TestTrajectory.test_smoothwithcircular ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_smoothwithcircular ... ok
noseplugins.multiprocess 2017-10-13 12:05:10,979: DEBUG Ran 1 tests (total: 140)
noseplugins.multiprocess 2017-10-13 12:05:10,979: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:10,990: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:11,000: DEBUG Waiting for results (156/178 tasks), next timeout=990.877s
noseplugins.multiprocess 2017-10-13 12:05:11,015: DEBUG Worker 0 executing, pid=8546
noseplugins.multiprocess 2017-10-13 12:05:11,024: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_collisioncallbacks (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:11,024: DEBUG suite 139783299486288 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
2017-10-13 12:05:11,025 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:11,093 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:11,094: DEBUG suite 139783299415568 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ce10>
openravepytest.test_fcl.LoadEnv (pid=8546): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:11,618: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:11,619: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_smoothing(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:11,619: DEBUG batch result is ('test_trajectory.TestTrajectory.test_smoothing ... FAIL\n', 1, [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e4c290>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 294, in test_smoothing\n    assert( transdist(data1,data2) <= g_epsilon)\nAssertionError: \n    array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,\n            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,\n>>          0.09999   ,  1.        ]) = RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').Sample(0.10000000000000001)\n    array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,\n            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,\n            0.04567885,  1.        ]) = RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,\'GenericTrajectory\').Sample(0.10000000000000001)\n    assert( transdist(array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,\n            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,\n            0.09999   ,  1.        ]),array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,\n            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,\n            0.04567885,  1.        ])) <= 1e-07)\n    \n')], [], {})
test_trajectory.TestTrajectory.test_smoothing ... FAIL
noseplugins.multiprocess 2017-10-13 12:05:11,620: DEBUG Ran 1 tests (total: 141)
noseplugins.multiprocess 2017-10-13 12:05:11,620: DEBUG joining worker 6
0
0.0
1e-05
0.05432115
0.15432115
0.15432115
0.227110840671
0.327110840671
0.427110840671
0.527110840671
0.627110840671
0.627110840671
0.681917416244
0.781917416244
0.881917416244
0.881917416244
0.890274780688
0.990274780688
0.990274780688
0.998632145132
1.09863214513
1.09863214513
1.19227790864
1.21953174499
1.31953174499
1.31953174499
1.31977030098
1.33378587352
1.43378587352
1.43378587352
1.44568385
1.54568385
1.64568385
1.74568385
1.84568385
1.94568385
2.04568385
2.14568385
2.14568385
2.21642917565
2.299995
2.300005
noseplugins.multiprocess 2017-10-13 12:05:11,658: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:05:11,669: DEBUG Waiting for results (157/178 tasks), next timeout=990.208s
noseplugins.multiprocess 2017-10-13 12:05:11,706: DEBUG Worker 6 executing, pid=8557
noseplugins.multiprocess 2017-10-13 12:05:11,712: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_known_collisions (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:11,713: DEBUG suite 139783299338192 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cdc0>
2017-10-13 12:05:11,714 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:11,752 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:11,752: DEBUG suite 139783299413968 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cdc0>
openravepytest.test_fcl.LoadEnv (pid=8557): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:11,995: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:05:11,996: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_quaternionjacobian(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:11,996: DEBUG batch result is ('test_robot.test_ode.test_quaternionjacobian ... ok\n', 1, [], [], {})
test_robot.test_ode.test_quaternionjacobian ... ok
noseplugins.multiprocess 2017-10-13 12:05:11,996: DEBUG Ran 1 tests (total: 142)
noseplugins.multiprocess 2017-10-13 12:05:11,996: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:05:12,005: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:05:12,014: DEBUG Waiting for results (158/178 tasks), next timeout=989.862s
noseplugins.multiprocess 2017-10-13 12:05:12,024: DEBUG Worker 7 executing, pid=8567
noseplugins.multiprocess 2017-10-13 12:05:12,026: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_multiplecontacts (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:12,026: DEBUG suite 139783299537424 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:05:12,027 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:12,062 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:12,062: DEBUG suite 139783299281168 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepytest.test_fcl.LoadEnv (pid=8567): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:12,172: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:05:12,172: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_collisioncaching(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:12,172: DEBUG batch result is ('test_collision.test_fcl.test_collisioncaching ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_collisioncaching ... ok
noseplugins.multiprocess 2017-10-13 12:05:12,173: DEBUG Ran 1 tests (total: 143)
noseplugins.multiprocess 2017-10-13 12:05:12,173: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:05:12,180: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:05:12,189: DEBUG Waiting for results (159/178 tasks), next timeout=989.688s
noseplugins.multiprocess 2017-10-13 12:05:12,198: DEBUG Worker 1 executing, pid=8577
noseplugins.multiprocess 2017-10-13 12:05:12,200: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_selfcollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:12,200: DEBUG suite 139783299414096 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cdc0>
2017-10-13 12:05:12,201 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:12,239 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:12,240: DEBUG suite 139783299451088 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cdc0>
openravepytest.test_fcl.LoadEnv (pid=8577): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:12,465: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:12,465: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_collisioncaching2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:12,465: DEBUG batch result is ('test_collision.test_fcl.test_collisioncaching2 ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_collisioncaching2 ... ok
noseplugins.multiprocess 2017-10-13 12:05:12,465: DEBUG Ran 1 tests (total: 144)
noseplugins.multiprocess 2017-10-13 12:05:12,466: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:12,481: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:12,492: DEBUG Waiting for results (160/178 tasks), next timeout=989.385s
noseplugins.multiprocess 2017-10-13 12:05:12,507: DEBUG Worker 3 executing, pid=8587
noseplugins.multiprocess 2017-10-13 12:05:12,509: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_selfcollision_joinxml (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:12,509: DEBUG suite 139783299415504 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
2017-10-13 12:05:12,510 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:12,565 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:12,565: DEBUG suite 139783299451536 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_fcl>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepy.ikfast.solveFullIK_6D (pid=8365): ikfast 6d: [j13, j14, j15, j16, j17, j18]
2017-10-13 12:05:12,758 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
2017-10-13 12:05:12,758 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
2017-10-13 12:05:12,758 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
2017-10-13 12:05:12,758 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
noseplugins.multiprocess 2017-10-13 12:05:12,761: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:12,762: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_collisioncallbacks(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:12,762: DEBUG batch result is ('test_collision.test_fcl.test_collisioncallbacks ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_collisioncallbacks ... ok
noseplugins.multiprocess 2017-10-13 12:05:12,762: DEBUG Ran 1 tests (total: 145)
noseplugins.multiprocess 2017-10-13 12:05:12,762: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:12,770: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:12,780: DEBUG Waiting for results (161/178 tasks), next timeout=989.097s
noseplugins.multiprocess 2017-10-13 12:05:12,790: DEBUG Worker 0 executing, pid=8597
noseplugins.multiprocess 2017-10-13 12:05:12,791: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_activedofdistance (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:12,792: DEBUG suite 139783299489040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:05:12,792 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=8365): found 3 consecutive non-intersecting axes links[2:7], vars=[j14, j15, j16]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=8365): found 3 consecutive non-intersecting axes links[0:5], vars=[j13, j14, j15]
2017-10-13 12:05:12,829 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:12,830: DEBUG suite 139783299537360 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=8365): found 3 consecutive non-intersecting axes links[4:9], vars=[j15, j16, j17]
openravepy.ikfast.iterateThreeNonIntersectingAxes (pid=8365): found 3 consecutive non-intersecting axes links[6:11], vars=[j16, j17, j18]
openravepy.ikfast.solveFullIK_6D (pid=8365): try first group 0/4
openravepytest.test_ode.LoadEnv (pid=8597): ('data/lab1.env.xml',), {}
2017-10-13 12:05:13,355 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 9 value is not in limits -1.906893e-08<0.000000e+00
noseplugins.multiprocess 2017-10-13 12:05:13,370: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:13,372: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_known_collisions(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:13,372: DEBUG batch result is ('test_collision.test_fcl.test_known_collisions ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_known_collisions ... ok
noseplugins.multiprocess 2017-10-13 12:05:13,372: DEBUG Ran 1 tests (total: 146)
noseplugins.multiprocess 2017-10-13 12:05:13,372: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:05:13,404: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:05:13,414: DEBUG Waiting for results (162/178 tasks), next timeout=988.463s
noseplugins.multiprocess 2017-10-13 12:05:13,445: DEBUG Worker 6 executing, pid=8607
noseplugins.multiprocess 2017-10-13 12:05:13,446: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_attachedbodiescollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:13,446: DEBUG suite 139783299486096 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
2017-10-13 12:05:13,447 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:13,511 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:13,512: DEBUG suite 139783299537808 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
noseplugins.multiprocess 2017-10-13 12:05:13,515: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:13,515: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_attachedbodiescollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:13,515: DEBUG batch result is ('test_collision.test_ode.test_attachedbodiescollision ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e4c8c0>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py", line 87, in test_attachedbodiescollision\n    self.loadEnv(\'data/lab1.env.xml\')\nAttributeError: \'test_ode\' object has no attribute \'loadEnv\'\n')], {})
test_collision.test_ode.test_attachedbodiescollision ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:13,516: DEBUG Ran 1 tests (total: 147)
noseplugins.multiprocess 2017-10-13 12:05:13,516: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:05:13,523: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:05:13,537: DEBUG Waiting for results (163/178 tasks), next timeout=988.340s
noseplugins.multiprocess 2017-10-13 12:05:13,552: DEBUG Worker 6 executing, pid=8617
noseplugins.multiprocess 2017-10-13 12:05:13,554: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_basic (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:13,554: DEBUG suite 139783299451088 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
2017-10-13 12:05:13,555 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:13,588 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:13,589: DEBUG suite 139783299537616 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
openravepytest.test_ode.LoadEnv (pid=8617): ('data/hironxtable.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:13,657: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:13,658: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_selfcollision_joinxml(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:13,658: DEBUG batch result is ('test_collision.test_fcl.test_selfcollision_joinxml ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_selfcollision_joinxml ... ok
noseplugins.multiprocess 2017-10-13 12:05:13,658: DEBUG Ran 1 tests (total: 148)
noseplugins.multiprocess 2017-10-13 12:05:13,658: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:13,666: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:13,676: DEBUG Waiting for results (164/178 tasks), next timeout=988.201s
noseplugins.multiprocess 2017-10-13 12:05:13,697: DEBUG Worker 3 executing, pid=8627
noseplugins.multiprocess 2017-10-13 12:05:13,699: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_collisioncaching (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:13,699: DEBUG suite 139783299451088 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
2017-10-13 12:05:13,700 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:13,768: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:05:13,769: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_selfcollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:13,769: DEBUG batch result is ('test_collision.test_fcl.test_selfcollision ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_selfcollision ... ok
noseplugins.multiprocess 2017-10-13 12:05:13,769: DEBUG Ran 1 tests (total: 149)
noseplugins.multiprocess 2017-10-13 12:05:13,769: DEBUG joining worker 1
2017-10-13 12:05:13,769 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:13,770: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
noseplugins.multiprocess 2017-10-13 12:05:13,810: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:05:13,815: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:05:13,826: DEBUG Waiting for results (165/178 tasks), next timeout=988.051s
noseplugins.multiprocess 2017-10-13 12:05:13,826: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_fcl.test_multiplecontacts(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:13,827: DEBUG batch result is ('test_collision.test_fcl.test_multiplecontacts ... ok\n', 1, [], [], {})
test_collision.test_fcl.test_multiplecontacts ... ok
noseplugins.multiprocess 2017-10-13 12:05:13,827: DEBUG Ran 1 tests (total: 150)
noseplugins.multiprocess 2017-10-13 12:05:13,827: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:05:13,836: DEBUG starting new process on worker 7
noseplugins.multiprocess 2017-10-13 12:05:13,847: DEBUG Waiting for results (166/178 tasks), next timeout=988.030s
noseplugins.multiprocess 2017-10-13 12:05:13,857: DEBUG Worker 1 executing, pid=8642
noseplugins.multiprocess 2017-10-13 12:05:13,859: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_collisioncaching2 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:13,859: DEBUG suite 139783299451536 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
2017-10-13 12:05:13,860 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:13,888: DEBUG Worker 7 executing, pid=8645
noseplugins.multiprocess 2017-10-13 12:05:13,890: DEBUG Worker 7 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_collisioncallbacks (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:13,890: DEBUG suite 139783299536016 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3ccd0>
2017-10-13 12:05:13,891 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:13,901 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:13,902: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
2017-10-13 12:05:13,951 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:13,953: DEBUG suite 139783299277072 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cd70>
openravepytest.test_ode.LoadEnv (pid=8645): ('data/lab1.env.xml',), {}
openravepy.ikfast.solveFullIK_6D (pid=8245): ikfast 6d: [j15, j16, j18, j19, j20, j21]
noseplugins.multiprocess 2017-10-13 12:05:14,227: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:14,228: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_basic(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:14,228: DEBUG batch result is ('test_collision.test_ode.test_basic ... ok\n', 1, [], [], {})
test_collision.test_ode.test_basic ... ok
noseplugins.multiprocess 2017-10-13 12:05:14,228: DEBUG Ran 1 tests (total: 151)
noseplugins.multiprocess 2017-10-13 12:05:14,228: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:05:14,238: DEBUG starting new process on worker 6
noseplugins.multiprocess 2017-10-13 12:05:14,248: DEBUG Waiting for results (167/178 tasks), next timeout=987.629s
noseplugins.multiprocess 2017-10-13 12:05:14,264: DEBUG Worker 6 executing, pid=8657
noseplugins.multiprocess 2017-10-13 12:05:14,266: DEBUG Worker 6 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_known_collisions (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:14,266: DEBUG suite 139783299489040 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
2017-10-13 12:05:14,271 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:14,327 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
openravepy.ikfast.iterateThreeIntersectingAxes (pid=8245): found 3 consecutive intersecting axes links[8:13], rotvars=[j19, j20, j21], translationvars=[j15, j16, j18]
noseplugins.multiprocess 2017-10-13 12:05:14,328: DEBUG suite 139783299537680 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb90>
openravepytest.test_ode.LoadEnv (pid=8657): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:14,932: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:14,933: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_activedofdistance(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:14,933: DEBUG batch result is ('test_collision.test_ode.test_activedofdistance ... ok\n', 1, [], [], {})
test_collision.test_ode.test_activedofdistance ... ok
noseplugins.multiprocess 2017-10-13 12:05:14,933: DEBUG Ran 1 tests (total: 152)
noseplugins.multiprocess 2017-10-13 12:05:14,933: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:14,944: DEBUG starting new process on worker 0
noseplugins.multiprocess 2017-10-13 12:05:14,953: DEBUG Waiting for results (168/178 tasks), next timeout=986.923s
noseplugins.multiprocess 2017-10-13 12:05:14,964: DEBUG Worker 0 executing, pid=8667
noseplugins.multiprocess 2017-10-13 12:05:14,965: DEBUG Worker 0 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_multiplecontacts (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:14,966: DEBUG suite 139783299450128 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb40>
2017-10-13 12:05:14,967 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:15,002 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:15,003: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cbe0>
openravepytest.test_ode.LoadEnv (pid=8667): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:15,027: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:05:15,029: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_collisioncaching2(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:15,029: DEBUG batch result is ('test_collision.test_ode.test_collisioncaching2 ... ok\n', 1, [], [], {})
test_collision.test_ode.test_collisioncaching2 ... ok
noseplugins.multiprocess 2017-10-13 12:05:15,030: DEBUG Ran 1 tests (total: 153)
noseplugins.multiprocess 2017-10-13 12:05:15,030: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:05:15,038: DEBUG starting new process on worker 1
noseplugins.multiprocess 2017-10-13 12:05:15,048: DEBUG Waiting for results (169/178 tasks), next timeout=986.829s
noseplugins.multiprocess 2017-10-13 12:05:15,058: DEBUG Worker 1 executing, pid=8677
noseplugins.multiprocess 2017-10-13 12:05:15,060: DEBUG Worker 1 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_selfcollision (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:15,060: DEBUG suite 139783299450896 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb40>
2017-10-13 12:05:15,061 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:15,096 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:15,097: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cbe0>
openravepytest.test_ode.LoadEnv (pid=8677): ('data/lab1.env.xml',), {}
noseplugins.multiprocess 2017-10-13 12:05:15,327: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:15,328: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_collisioncaching(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:15,328: DEBUG batch result is ('test_collision.test_ode.test_collisioncaching ... ok\n', 1, [], [], {})
test_collision.test_ode.test_collisioncaching ... ok
noseplugins.multiprocess 2017-10-13 12:05:15,328: DEBUG Ran 1 tests (total: 154)
noseplugins.multiprocess 2017-10-13 12:05:15,328: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:15,335: DEBUG starting new process on worker 3
noseplugins.multiprocess 2017-10-13 12:05:15,343: DEBUG Waiting for results (170/178 tasks), next timeout=986.534s
noseplugins.multiprocess 2017-10-13 12:05:15,352: DEBUG Worker 3 executing, pid=8687
noseplugins.multiprocess 2017-10-13 12:05:15,353: DEBUG Worker 3 Test is /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_selfcollision_joinxml (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>), args: ()
noseplugins.multiprocess 2017-10-13 12:05:15,354: DEBUG suite 139783299450896 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cb40>
2017-10-13 12:05:15,354 openrave [WARN] [plugindatabase.h:463 RaveDatabase::Init] /usr/lib64/openrave/plugins doesn't exist
2017-10-13 12:05:15,387 openrave [WARN] [libopenrave.cpp:914 RaveGlobal::_UpdateDataDirs] /usr/share/openrave doesn't exist
noseplugins.multiprocess 2017-10-13 12:05:15,387: DEBUG suite 139783299537744 (<noseplugins.multiprocess.NoSharedFixtureContextSuite context=test_ode>) run called, tests: <generator object _get_wrapped_tests at 0x7f21d5e3cbe0>
2017-10-13 12:05:15,431 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
2017-10-13 12:05:15,431 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
2017-10-13 12:05:15,432 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
2017-10-13 12:05:15,432 openrave [WARN] [openravepy_int.cpp:517 CollisionAction openravepy::PyEnvironmentBase::_CollisionCallback] collision callback nothing returning, so executing default action
noseplugins.multiprocess 2017-10-13 12:05:15,435: DEBUG Worker 7 ending
noseplugins.multiprocess 2017-10-13 12:05:15,435: DEBUG Results received for worker 7 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_collisioncallbacks(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:15,435: DEBUG batch result is ('test_collision.test_ode.test_collisioncallbacks ... ok\n', 1, [], [], {})
test_collision.test_ode.test_collisioncallbacks ... ok
noseplugins.multiprocess 2017-10-13 12:05:15,436: DEBUG Ran 1 tests (total: 155)
noseplugins.multiprocess 2017-10-13 12:05:15,436: DEBUG joining worker 7
noseplugins.multiprocess 2017-10-13 12:05:15,443: DEBUG Waiting for results (171/178 tasks), next timeout=986.434s
2017-10-13 12:05:15,801 openrave [WARN] [kinbody.cpp:1524 KinBody::SetDOFValues] dof 9 value is not in limits -1.906893e-08<0.000000e+00
noseplugins.multiprocess 2017-10-13 12:05:15,803: DEBUG Worker 6 ending
noseplugins.multiprocess 2017-10-13 12:05:15,803: DEBUG Results received for worker 6 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_known_collisions(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:15,803: DEBUG batch result is ('test_collision.test_ode.test_known_collisions ... ok\n', 1, [], [], {})
test_collision.test_ode.test_known_collisions ... ok
noseplugins.multiprocess 2017-10-13 12:05:15,803: DEBUG Ran 1 tests (total: 156)
noseplugins.multiprocess 2017-10-13 12:05:15,803: DEBUG joining worker 6
noseplugins.multiprocess 2017-10-13 12:05:15,819: DEBUG Waiting for results (172/178 tasks), next timeout=986.057s
noseplugins.multiprocess 2017-10-13 12:05:15,834: DEBUG Worker 4 ending
noseplugins.multiprocess 2017-10-13 12:05:15,834: DEBUG Results received for worker 4 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_smoothingsamepoint(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:15,835: DEBUG batch result is ('test_trajectory.TestTrajectory.test_smoothingsamepoint ... ok\n', 1, [], [], {})
test_trajectory.TestTrajectory.test_smoothingsamepoint ... ok
noseplugins.multiprocess 2017-10-13 12:05:15,835: DEBUG Ran 1 tests (total: 157)
noseplugins.multiprocess 2017-10-13 12:05:15,835: DEBUG joining worker 4
noseplugins.multiprocess 2017-10-13 12:05:15,842: DEBUG Waiting for results (173/178 tasks), next timeout=986.034s
noseplugins.multiprocess 2017-10-13 12:05:16,066: DEBUG Worker 3 ending
noseplugins.multiprocess 2017-10-13 12:05:16,066: DEBUG Results received for worker 3 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_selfcollision_joinxml(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:16,066: DEBUG batch result is ('test_collision.test_ode.test_selfcollision_joinxml ... ok\n', 1, [], [], {})
test_collision.test_ode.test_selfcollision_joinxml ... ok
noseplugins.multiprocess 2017-10-13 12:05:16,066: DEBUG Ran 1 tests (total: 158)
noseplugins.multiprocess 2017-10-13 12:05:16,066: DEBUG joining worker 3
noseplugins.multiprocess 2017-10-13 12:05:16,073: DEBUG Waiting for results (174/178 tasks), next timeout=985.803s
noseplugins.multiprocess 2017-10-13 12:05:16,202: DEBUG Worker 1 ending
noseplugins.multiprocess 2017-10-13 12:05:16,202: DEBUG Results received for worker 1 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_selfcollision(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:16,202: DEBUG batch result is ('test_collision.test_ode.test_selfcollision ... ok\n', 1, [], [], {})
test_collision.test_ode.test_selfcollision ... ok
noseplugins.multiprocess 2017-10-13 12:05:16,202: DEBUG Ran 1 tests (total: 159)
noseplugins.multiprocess 2017-10-13 12:05:16,202: DEBUG joining worker 1
noseplugins.multiprocess 2017-10-13 12:05:16,209: DEBUG Waiting for results (175/178 tasks), next timeout=985.667s
noseplugins.multiprocess 2017-10-13 12:05:16,241: DEBUG Worker 0 ending
noseplugins.multiprocess 2017-10-13 12:05:16,241: DEBUG Results received for worker 0 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py:test_ode.test_multiplecontacts(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:16,241: DEBUG batch result is ('test_collision.test_ode.test_multiplecontacts ... ok\n', 1, [], [], {})
test_collision.test_ode.test_multiplecontacts ... ok
noseplugins.multiprocess 2017-10-13 12:05:16,241: DEBUG Ran 1 tests (total: 160)
noseplugins.multiprocess 2017-10-13 12:05:16,241: DEBUG joining worker 0
noseplugins.multiprocess 2017-10-13 12:05:16,249: DEBUG Waiting for results (176/178 tasks), next timeout=985.628s
openravepy.ikfast.SolveAllEquations (pid=8245): depth=0 c=1, [j17] [j15, j16, j18]: cases=None
openravepy.ikfast.SolvePairVariables (pid=8245): equation relies on unsolved variables([sj15, cj18, sj18]): -62500*cj15**2*cj17**2*px**2*sj17**2/(cj17**2 - 1) + 62500*cj15**2*cj17**2*py**2*sj17**2/(cj17**2 - 1) - 937500*cj15**2*px**2*sj17**2/(cj17**2 - 1) + 937500*cj15**2*py**2*sj17**2/(cj17**2 - 1) + 625000*cj15*cj17**2*pp*px*sj17**2/(cj17**2 - 1) - 125000*cj15*cj17**2*px*py*sj15*sj17**2/(cj17**2 - 1) - 1265205*cj15*cj17**2*px*sj17**2/(8*(cj17**2 - 1)) - 625000*cj15*pp*px*sj17**2/(cj17**2 - 1) - 1875000*cj15*px*py*sj15*sj17**2/(cj17**2 - 1) + 1265205*cj15*px*sj17**2/(8*(cj17**2 - 1)) - 1562500*cj17**2*pp**2*sj17**2/(cj17**2 - 1) + 625000*cj17**2*pp*py*sj15*sj17**2/(cj17**2 - 1) + 6326025*cj17**2*pp*sj17**2/(8*(cj17**2 - 1)) - 62500*cj17**2*py**2*sj17**2/(cj17**2 - 1) - 1265205*cj17**2*py*sj15*sj17**2/(8*(cj17**2 - 1)) + 1916492319*cj17**2*sj17**2/(640000*(cj17**2 - 1)) + 1562500*pp**2*sj17**2/(cj17**2 - 1) - 625000*pp*py*sj15*sj17**2/(cj17**2 - 1) - 6326025*pp*sj17**2/(8*(cj17**2 - 1)) + 1000000*px**2*sj17**2/(cj17**2 - 1) + 62500*py**2*sj17**2/(cj17**2 - 1) + 1265205*py*sj15*sj17**2/(8*(cj17**2 - 1)) - 1916492319*sj17**2/(640000*(cj17**2 - 1))
noseplugins.multiprocess 2017-10-13 12:05:17,105: DEBUG Worker 2 ending
noseplugins.multiprocess 2017-10-13 12:05:17,105: DEBUG Results received for worker 2 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py:test_ode.test_manipulators(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:17,105: DEBUG batch result is ('test_robot.test_ode.test_manipulators ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e4e560>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 491, in test_manipulators\n    ikmodel.autogenerate()\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate\n    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D\n    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes\n    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes\n    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations\n    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables\n    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle\n    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically\n    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros\n    return Matrix.zeros(*args, **kwargs)\n  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros\n    rows, cols = as_int(rows), as_int(cols)\n  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int\n    raise ValueError(\'%s is not an integer\' % (n,))\nValueError: (4, 4) is not an integer\n')], {})
test_robot.test_ode.test_manipulators ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:17,105: DEBUG Ran 1 tests (total: 161)
noseplugins.multiprocess 2017-10-13 12:05:17,105: DEBUG joining worker 2
noseplugins.multiprocess 2017-10-13 12:05:17,112: DEBUG Waiting for results (177/178 tasks), next timeout=988.547s
openravepy.ikfast.buildRaghavanRothEquations (pid=8365): computed in 4.604304s
noseplugins.multiprocess 2017-10-13 12:05:27,123: DEBUG Timed out with 1 tasks pending (empty testQueue=1): ['/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_insertionsmoothing()']
noseplugins.multiprocess 2017-10-13 12:05:27,123: DEBUG Waiting for results (177/178 tasks), next timeout=978.536s
openravepy.ikfast.buildRaghavanRothEquations (pid=8365): computed in 5.355916s
noseplugins.multiprocess 2017-10-13 12:05:37,071: DEBUG Worker 5 ending
noseplugins.multiprocess 2017-10-13 12:05:37,071: DEBUG Results received for worker 5 , /home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py:TestTrajectory.test_insertionsmoothing(), new tasks: 0
noseplugins.multiprocess 2017-10-13 12:05:37,072: DEBUG batch result is ('test_trajectory.TestTrajectory.test_insertionsmoothing ... ERROR\n', 1, [], [(<noseplugins.multiprocess.TestLet instance at 0x7f21d5e4e710>, 'Traceback (most recent call last):\n  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest\n    self.test(*self.arg)\n  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 755, in test_insertionsmoothing\n    ikmodel.autogenerate()\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate\n    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate\n    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver\n    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D\n    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2950, in solveFullIK_6D\n    tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)\n  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3250, in solveFullIK_6DGeneral\n    usedinequs = any([var in rawpolyeqs[0][0].gens or var in rawpolyeqs[0][1] for var in self.Variable(solvejointvar).vars])\nTypeError: argument of type \'Poly\' is not iterable\n')], {})
test_trajectory.TestTrajectory.test_insertionsmoothing ... ERROR
noseplugins.multiprocess 2017-10-13 12:05:37,072: DEBUG Ran 1 tests (total: 162)
noseplugins.multiprocess 2017-10-13 12:05:37,072: DEBUG joining worker 5
noseplugins.multiprocess 2017-10-13 12:05:37,079: DEBUG Completed 178 tasks (0 remain)

======================================================================
ERROR: Failure: ImportError (libconfigurationcache.so: cannot open shared object file: No such file or directory)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/loader.py", line 418, in loadTestsFromName
    addr.filename, addr.module)
  File "/usr/lib/python2.7/site-packages/nose/importer.py", line 47, in importFromPath
    return self.importFromDir(dir_path, fqname)
  File "/usr/lib/python2.7/site-packages/nose/importer.py", line 94, in importFromDir
    mod = load_module(part_fqname, fh, filename, desc)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_configurationcache.py", line 15, in <module>
    from openravepy import openravepy_configurationcache
ImportError: libconfigurationcache.so: cannot open shared object file: No such file or directory

======================================================================
ERROR: test_environment.TestEnvironment.test_unicode
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 104, in test_unicode
    shutil.copyfile(srcfile,destfile)
  File "/usr/lib64/python2.7/shutil.py", line 82, in copyfile
    with open(src, 'rb') as fsrc:
IOError: [Errno 2] No such file or directory: '/usr/share/openrave/models/WAM/wam0.iv'

======================================================================
ERROR: Failure: OSError ([Errno 2] No such file or directory: '../docs/source/tutorials/openravepy_examples')
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/loader.py", line 251, in generate
    for test in g():
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_global.py", line 48, in test_tutorialexamples
    for name in os.listdir(examplesdir):
OSError: [Errno 2] No such file or directory: '../docs/source/tutorials/openravepy_examples'

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_fail1
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 168, in test_fail1
    self.RunIkFast('ikfastrobots/fail1.dae','arm', IkParameterizationType.Transform6D, expectedruntime=450e-6,minimumsuccess=0.969)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast
    env.Add(robot)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_fail2
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 170, in test_fail2
    self.RunIkFast('ikfastrobots/fail2.robot.xml','arm', IkParameterizationType.Transform6D, minimumsuccess=0.99)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast
    env.Add(robot)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_fail3
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 172, in test_fail3
    self.RunIkFast('ikfastrobots/fail3.robot.xml','FLLeg', IkParameterizationType.Transform6D, minimumsuccess=0.96)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast
    env.Add(robot)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_fail5_4d_0
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 179, in test_fail5_4d_0
    self.RunIkFast('ikfastrobots/fail5_4d.zae','0', IkParameterizationType.TranslationXAxisAngleZNorm4D, minimumsuccess=1)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast
    env.Add(robot)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_fail5_4d_Flange
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 177, in test_fail5_4d_Flange
    self.RunIkFast('ikfastrobots/fail5_4d.zae','Flange', IkParameterizationType.TranslationXAxisAngleZNorm4D, minimumsuccess=1)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast
    env.Add(robot)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_testik0
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 166, in test_testik0
    self.RunIkFast('ikfastrobots/testik0.zae','arm', IkParameterizationType.Transform6D, expectedruntime=45e-6,minimumsuccess=1)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 59, in RunIkFast
    env.Add(robot)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_iksolver.TestIkSolver.test_ikfastrobotsolutions
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py", line 256, in test_ikfastrobotsolutions
    robot=self.LoadRobot(robotfilename)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 146, in LoadRobot
    self.env.Add(robot,True)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_environment.TestEnvironment.test_clone_basic
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 152, in test_clone_basic
    ikmodel.autogenerate()
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D
    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes
    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes
    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations
    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables
    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle
    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically
    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]
  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros
    return Matrix.zeros(*args, **kwargs)
  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros
    rows, cols = as_int(rows), as_int(cols)
  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int
    raise ValueError('%s is not an integer' % (n,))
ValueError: (4, 4) is not an integer

======================================================================
ERROR: test_iksolver.TestIkSolver.test_circularfree
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py", line 522, in test_circularfree
    ikmodel.autogenerate()
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D
    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes
    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes
    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6872, in SolveAllEquations
    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6972, in AddSolution
    return [solution[0].subs(solsubs)]+self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations
    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8704, in SolvePairVariables
    M = zeros((4,4))
  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros
    return Matrix.zeros(*args, **kwargs)
  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros
    rows, cols = as_int(rows), as_int(cols)
  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int
    raise ValueError('%s is not an integer' % (n,))
ValueError: (4, 4) is not an integer

======================================================================
ERROR: test_planning.test_ode.test_constraintpr2
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 93, in test_constraintpr2
    robot.SetDOFValues(manip.FindIKSolution(T,IkFilterOptions.CheckEnvCollisions),manip.GetArmIndices())
openrave_exception: openrave (Failed): [virtual bool OpenRAVE::RobotBase::Manipulator::FindIKSolution(const OpenRAVE::IkParameterization&, const std::vector<double>&, std::vector<double>&, int) const:194] (!!pIkSolver) failed manipulator pr2:leftarm_torso does not have an IK solver set

======================================================================
ERROR: test_planning.test_ode.test_constraintwam
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 138, in test_constraintwam
    traj = basemanip.MoveToHandPosition(matrices=[Tgoal],maxiter=3000,maxtries=1,seedik=40,constraintfreedoms=constraintfreedoms,constraintmatrix=constraintmatrix,constrainttaskmatrix=constrainttaskmatrix,constrainterrorthresh=constrainterrorthresh,steplength=0.002,outputtrajobj=True,execute=False,jitter=0.05)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 232, in MoveToHandPosition
    raise PlanningError('MoveToHandPosition')
PlanningError: Planning Error
MoveToHandPosition

======================================================================
ERROR: test_planning.test_ode.test_movetohandpositiongrab
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 270, in test_movetohandpositiongrab
    out = basemanip.MoveToHandPosition(matrices=[Tgoal],execute=False)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 232, in MoveToHandPosition
    raise PlanningError('MoveToHandPosition')
PlanningError: Planning Error
MoveToHandPosition

======================================================================
ERROR: test_planning.test_ode.test_wamgraspfromcollision
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 179, in test_wamgraspfromcollision
    traj = basemanip.MoveManipulator(orgvalues,outputtrajobj=True,execute=False,jitter=0.05)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 121, in MoveManipulator
    return self._MoveJoints('MoveManipulator',goal=goal,steplength=steplength,maxiter=maxiter,maxtries=maxtries,execute=execute,outputtraj=outputtraj,goals=goals,outputtrajobj=outputtrajobj,jitter=jitter,releasegil=releasegil)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 164, in _MoveJoints
    res = self.prob.SendCommand(cmd,releasegil=releasegil)
openrave_exception: openrave (Assert): [size_t OpenRAVE::planningutils::InsertActiveDOFWaypointWithRetiming(int, const std::vector<double>&, const std::vector<double>&, OpenRAVE::TrajectoryBasePtr, OpenRAVE::RobotBasePtr, OpenRAVE::dReal, OpenRAVE::dReal, const string&, const string&):1324] env=1 failed to retime init traj

======================================================================
ERROR: test_planning.test_ode.test_wamtaskplanwithgoal
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 455, in test_wamtaskplanwithgoal
    dests = ComputeDestinations(gmodel.target,env.GetKinBody('table'))
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 423, in ComputeDestinations
    X = r_[X, tile((x+1)/(Nx+1),Ny)]
  File "/usr/lib64/python2.7/site-packages/numpy/lib/shape_base.py", line 881, in tile
    return c.reshape(shape_out)
TypeError: 'numpy.float64' object cannot be interpreted as an index

======================================================================
ERROR: test_programs.test_createplugin
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py", line 181, in test_createplugin
    shutil.rmtree('myplugin')
  File "/usr/lib64/python2.7/shutil.py", line 239, in rmtree
    onerror(os.listdir, path, sys.exc_info())
  File "/usr/lib64/python2.7/shutil.py", line 237, in rmtree
    names = os.listdir(path)
OSError: [Errno 2] No such file or directory: 'myplugin'

======================================================================
ERROR: test_robot.test_ode.test_bigrange
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 416, in test_bigrange
    robot=self.LoadRobot('robots/kuka-kr5-r650.zae')
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 146, in LoadRobot
    self.env.Add(robot,True)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = openravepy::PyInterfaceBase; typename boost::detail::sp_member_access<T>::type = openravepy::PyInterfaceBase*], expr: px != 0

======================================================================
ERROR: test_planning.test_ode.test_planwithcollision
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 335, in test_planwithcollision
    ikmodel.autogenerate()
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D
    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes
    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes
    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations
    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables
    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle
    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically
    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]
  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros
    return Matrix.zeros(*args, **kwargs)
  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros
    rows, cols = as_int(rows), as_int(cols)
  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int
    raise ValueError('%s is not an integer' % (n,))
ValueError: (4, 4) is not an integer

======================================================================
ERROR: test_planning.test_ode.test_navigationmanip
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_planning.py", line 279, in test_navigationmanip
    ikmodel.autogenerate()
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D
    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes
    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes
    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations
    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables
    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle
    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically
    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]
  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros
    return Matrix.zeros(*args, **kwargs)
  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros
    rows, cols = as_int(rows), as_int(cols)
  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int
    raise ValueError('%s is not an integer' % (n,))
ValueError: (4, 4) is not an integer

======================================================================
ERROR: test_robot.test_ode.test_ikcollision
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 263, in test_ikcollision
    assert(manip.FindIKSolution(Tmanip,IkFilterOptions.CheckEnvCollisions) is not None)
openrave_exception: openrave (Failed): [virtual bool OpenRAVE::RobotBase::Manipulator::FindIKSolution(const OpenRAVE::IkParameterization&, const std::vector<double>&, std::vector<double>&, int) const:194] (!!pIkSolver) failed manipulator pr2:leftarm does not have an IK solver set

======================================================================
ERROR: test_sampling.TestSampling.test_robot
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py", line 55, in test_robot
    assert(len(values[0]) == robot.GetActiveDOF())
TypeError: object of type 'numpy.float64' has no len()

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_kawada_hironx_left
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 181, in test_kawada_hironx_left
    self.RunIkFast('robots/kawada-hironx.zae','leftarm', IkParameterizationType.Transform6D, expectedruntime=0.0016, minimumsuccess=0.984)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 74, in RunIkFast
    ikmodel.generate(iktype=iktype,forceikbuild=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2950, in solveFullIK_6D
    tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3250, in solveFullIK_6DGeneral
    usedinequs = any([var in rawpolyeqs[0][0].gens or var in rawpolyeqs[0][1] for var in self.Variable(solvejointvar).vars])
TypeError: argument of type 'Poly' is not iterable

======================================================================
ERROR: test_robot.test_ode.test_checkendeffector
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 360, in test_checkendeffector
    ikmodel.autogenerate()
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 720, in solveFullIK_Translation3D
    return self.ikfast.IKFastSolver.solveFullIK_Translation3D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2479, in solveFullIK_Translation3D
    return self._solveFullIK_Translation3D(LinksRaw,jointvars,isolvejointvars,basepos)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2500, in _solveFullIK_Translation3D
    transtree = self.SolveAllEquations(AllEquations,curvars=solvejointvars[:],othersolvedvars=self.freejointvars,solsubs = self.freevarsubs[:],endbranchtree=endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6872, in SolveAllEquations
    return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7238, in AddSolution
    nextsolutions[var] = self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],solsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unknownvars=unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations
    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8704, in SolvePairVariables
    M = zeros((4,4))
  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros
    return Matrix.zeros(*args, **kwargs)
  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros
    rows, cols = as_int(rows), as_int(cols)
  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int
    raise ValueError('%s is not an integer' % (n,))
ValueError: (4, 4) is not an integer

======================================================================
ERROR: test_trajectory.TestTrajectory.test_grabbing
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 93, in test_grabbing
    traj1=basemanip.MoveToHandPosition(matrices=[Tgoal1],execute=False,outputtrajobj=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 230, in MoveToHandPosition
    res = self.prob.SendCommand(cmd, releasegil=releasegil)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::IkSolverBase; typename boost::detail::sp_member_access<T>::type = OpenRAVE::IkSolverBase*], expr: px != 0

======================================================================
ERROR: test_trajectory.TestTrajectory.test_segmenttraj2
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
TypeError: test_segmenttraj2() takes no arguments (1 given)

======================================================================
ERROR: test_trajectory.TestTrajectory.test_merging
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 26, in test_merging
    traj1=basemanip.MoveToHandPosition(matrices=[Tgoal1],execute=False,outputtrajobj=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/interfaces/BaseManipulation.py", line 230, in MoveToHandPosition
    res = self.prob.SendCommand(cmd, releasegil=releasegil)
openrave_exception: openrave (Assert): [/usr/include/boost/smart_ptr/shared_ptr.hpp:710] -> typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = OpenRAVE::IkSolverBase; typename boost::detail::sp_member_access<T>::type = OpenRAVE::IkSolverBase*], expr: px != 0

======================================================================
ERROR: test_trajectory.TestTrajectory.test_robotdoortraj
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 635, in test_robotdoortraj
    self.env.StepSimulation(0.01)
openrave_exception: openrave (Assert): robot BarrettWAM dof 0 is violating max velocity displacement 4.796659160759716e-01 > 1.570900000000000e-02, time=0.010000

======================================================================
ERROR: test_ikfast_mandatory.TestIkFast.test_kawada_hironx_lefttorso
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 183, in test_kawada_hironx_lefttorso
    self.RunIkFast('robots/kawada-hironx.zae','leftarm_torso', IkParameterizationType.Transform6D, [0], expectedruntime=0.0016, minimumsuccess=0.989)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_ikfast_mandatory.py", line 74, in RunIkFast
    ikmodel.generate(iktype=iktype,forceikbuild=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2950, in solveFullIK_6D
    tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3250, in solveFullIK_6DGeneral
    usedinequs = any([var in rawpolyeqs[0][0].gens or var in rawpolyeqs[0][1] for var in self.Variable(solvejointvar).vars])
TypeError: argument of type 'Poly' is not iterable

======================================================================
ERROR: test_collision.test_fcl.test_attachedbodiescollision
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py", line 87, in test_attachedbodiescollision
    self.loadEnv('data/lab1.env.xml')
AttributeError: 'test_fcl' object has no attribute 'loadEnv'

======================================================================
ERROR: test_collision.test_ode.test_attachedbodiescollision
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collision.py", line 87, in test_attachedbodiescollision
    self.loadEnv('data/lab1.env.xml')
AttributeError: 'test_ode' object has no attribute 'loadEnv'

======================================================================
ERROR: test_robot.test_ode.test_manipulators
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 491, in test_manipulators
    ikmodel.autogenerate()
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2890, in solveFullIK_6D
    tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2978, in TestIntersectingAxes
    return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=endbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3151, in solve6DIntersectingAxes
    transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtree=newendbranchtree)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6852, in SolveAllEquations
    rawsolutions=self.SolvePairVariables(raweqns,var0,var1,othersolvedvars,unknownvars=curvars+unknownvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 8982, in SolvePairVariables
    return self.SolvePairVariablesHalfAngle(raweqns,var0,var1,othersolvedvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 7838, in SolvePairVariablesHalfAngle
    Mall, allmonoms = self.solveDialytically(newreducedeqs,ileftvar,returnmatrix=True)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 6169, in solveDialytically
    Mall = [zeros((2*len(dialyticeqs),len(allmonoms))) for i in range(maxdegree+1)]
  File "/usr/lib/python2.7/site-packages/sympy/matrices/dense.py", line 1469, in zeros
    return Matrix.zeros(*args, **kwargs)
  File "/usr/lib/python2.7/site-packages/sympy/matrices/common.py", line 895, in zeros
    rows, cols = as_int(rows), as_int(cols)
  File "/usr/lib/python2.7/site-packages/sympy/core/compatibility.py", line 336, in as_int
    raise ValueError('%s is not an integer' % (n,))
ValueError: (4, 4) is not an integer

======================================================================
ERROR: test_trajectory.TestTrajectory.test_insertionsmoothing
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 755, in test_insertionsmoothing
    ikmodel.autogenerate()
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 658, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython,ikfastmaxcasedepth=ikfastmaxcasedepth)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 889, in generate
    chaintree = solver.generateIkSolver(baselink=baselink,eelink=eelink,freeindices=self.freeindices,solvefn=solvefn)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2295, in generateIkSolver
    chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 751, in solveFullIK_6D
    return self.ikfast.IKFastSolver.solveFullIK_6D(*args,**kwargs)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 2950, in solveFullIK_6D
    tree = self.solveFullIK_6DGeneral(T0links, T1links, solvejointvars, endbranchtree, usesolvers=1)
  File "/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/ikfast.py", line 3250, in solveFullIK_6DGeneral
    usedinequs = any([var in rawpolyeqs[0][0].gens or var in rawpolyeqs[0][1] for var in self.Variable(solvejointvar).vars])
TypeError: argument of type 'Poly' is not iterable

======================================================================
FAIL: test_controller.test_ideal.test_multitraj
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_controller.py", line 54, in test_multitraj
    assert(ret==PlannerStatus.HasSolution)
AssertionError: 
    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').Init(RaveGetEnvironment(1).GetRobot('_R1_').GetActiveConfigurationSpecification('quadratic'))
    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').Insert(0,<numpy.lib.index_tricks.RClass object at 0x7f21eb3ba310>[array([ 0.,  0.,  0.,  0.,  0.,  0.,  0.]),array([ 0.5,  0.5,  0. ,  0. ,  0. ,  0. ,  0. ])])
    openravepy._openravepy_.openravepy_int.PlannerStatus.Failed=planningutils.RetimeActiveDOFTrajectory(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory'),RaveGetEnvironment(1).GetRobot('_R1_'),False)
>>  assert(openravepy._openravepy_.openravepy_int.PlannerStatus.Failed==PlannerStatus.HasSolution)
    assert(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').GetDuration()>0)
    # shouldn't move
    

======================================================================
FAIL: test_collada.TestCOLLADA.test_externalref_joints
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py", line 246, in test_externalref_joints
    assert(len(filedata)<10000) # should be small
AssertionError: 
    RaveGetEnvironment(1).Save('test_externalref_joints.dae',Environment.SelectionOptions.Everything,{'externalref':'*'})
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link="link6">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link7">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link0" url="#g0_link0_extrageom0_self" material="#g0_link0_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link1" url="#g0_link1_extrageom0_self" material="#g0_link1_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link2" url="#g0_link2_extrageom0_self" material="#g0_link2_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link3" url="#g0_link3_extrageom0_self" material="#g0_link3_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link4" url="#g0_link4_extrageom0_self" material="#g0_link4_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link5" url="#g0_link5_extrageom0_self" material="#g0_link5_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link6" url="#g0_link6_extrageom0_self" material="#g0_link6_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link7" url="#g0_link7_extrageom0_self" material="#g0_link7_extrageom0_self_mat"/>\n\t\t\t\t\t</technique>\n\t\t\t\t</extra>\n\t\t\t</instance_articulated_system>\n\t\t</kinematics_scene>\n\t</library_kinematics_scenes>\n\t<library_physics_scenes id="pscenes">\n\t\t<physics_scene id="pscene" name="test_externalref_joints">\n\t\t\t<instance_physics_model url="openrave:/robots/schunk-lwa3.zae#pmodel1" sid="pmodel0_inst" parent="#v1.node0.visual0">\n\t\t\t\t<instance_rigid_body body="rigid0" sid="rigid0" target="#v1.node0.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid1" sid="rigid1" target="#v1.node1.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid2" sid="rigid2" target="#v1.node2.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid3" sid="rigid3" target="#v1.node3.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid4" sid="rigid4" target="#v1.node4.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid5" sid="rigid5" target="#v1.node5.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid6" sid="rigid6" target="#v1.node6.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid7" sid="rigid7" target="#v1.node7.visual0"/>\n\t\t\t</instance_physics_model>\n\t\t\t<technique_common>\n\t\t\t\t<gravity>0 0 -9.797930195020351</gravity>\n\t\t\t</technique_common>\n\t\t</physics_scene>\n\t</library_physics_scenes>\n\t<library_physics_models id="pmodels"/>\n\t<scene>\n\t\t<instance_physics_scene url="#pscene" sid="pscene_inst" name="test_externalref_joints"/>\n\t\t<instance_visual_scene url="#vscene" sid="vscene_inst" name="test_externalref_joints"/>\n\t\t<instance_kinematics_scene url="#kscene" sid="kscene_inst" name="test_externalref_joints">\n\t\t\t<bind_kinematics_model node="visual0/node0">\n\t\t\t\t<param>ikmodel_extern0_0</param>\n\t\t\t</bind_kinematics_model>\n\t\t\t<bind_joint_axis target="visual0/node_joint0_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint1_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param1</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param1_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint2_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param2</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param2_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint3_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param3</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param3_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint4_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param4</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param4_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint5_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param5</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param5_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint6_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param6</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param6_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t</instance_kinematics_scene>\n\t</scene>\n\t<extra id="sensors" type="library_sensors">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n\t<extra id="actuators" type="library_actuators">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n</COLLADA>\n'=open('test_externalref_joints.dae','r').read()
    assert('<?xml version="1.0" encoding="UTF-8"?>\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">\n\t<asset>\n\t\t<contributor>\n\t\t\t<authoring_tool>OpenRAVE Collada Writer v0.3.5</authoring_tool>\n\t\t</contributor>\n\t\t<created>2017-10-13T12:04:04.000000</created>\n\t\t<keywords/>\n\t\t<modified>2017-10-13T12:04:04.000000</modified>\n\t\t<unit/>\n\t\t<up_axis>Z_UP</up_axis>\n\t</asset>\n\t<library_visual_scenes id="vscenes">\n\t\t<visual_scene id="vscene" name="test_externalref_joints">\n\t\t\t<node id="visual0" name="schunk-lwa3" sid="visual0">\n\t\t\t\t<translate sid="translate">0 0 0</translate>\n\t\t\t\t<rotate sid="rotate">1 0 0 0</rotate>\n\t\t\t\t<instance_node url="openrave:/robots/schunk-lwa3.zae#v1.node0" sid="node0">\n\t\t\t\t\t<extra name=".visual0" type="idsuffix"/>\n\t\t\t\t</instance_node>\n\t\t\t</node>\n\t\t</visual_scene>\n\t</library_visual_scenes>\n\t<library_geometries id="geometries">\n\t\t<geometry id="g0_link0_extrageom0_self">\n\t\t\t<mesh>\n\t\t\t\t<source id="g0_link0_extrageom0_self_positions">\n\t\t\t\t\t<float_array id="g0_link0_extrageom0_self_positions-array" count="1008" digits="2490384">0 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.1 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0.1 1.86517e-17 0.042 0.1 -1.86517e-17 -0.042 0.1 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0 -1.86517e-17 -0.042 0.0973045 -0.0230616 -0.042 0.1 -1.86517e-17 -0.042 0 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0.1 -1.86517e-17 -0.042 0.0973045 -0.0230616 -0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 -0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0 -1.86517e-17 -0.042 0.08936330000000001 -0.0448799 -0.042 0.0973045 -0.0230616 -0.042 0 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0.08936330000000001 -0.0448799 0.042 0.0973045 -0.0230616 -0.042 0.08936330000000001 -0.0448799 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url="#g0_link4_extrageom0_self_eff"/>\n\t\t</material>\n\t\t<material id="g0_link5_extrageom0_self_mat">\n\t\t\t<instance_effect url="#g0_link5_extrageom0_self_eff"/>\n\t\t</material>\n\t\t<material id="g0_link6_extrageom0_self_mat">\n\t\t\t<instance_effect url="#g0_link6_extrageom0_self_eff"/>\n\t\t</material>\n\t\t<material id="g0_link7_extrageom0_self_mat">\n\t\t\t<instance_effect url="#g0_link7_extrageom0_self_eff"/>\n\t\t</material>\n\t</library_materials>\n\t<library_nodes id="nodes"/>\n\t<library_kinematics_models id="kmodels"/>\n\t<library_articulated_systems id="asystems"/>\n\t<library_kinematics_scenes id="kscenes">\n\t\t<kinematics_scene id="kscene" name="test_externalref_joints">\n\t\t\t<instance_articulated_system sid="body0_kinematics_inst" url="openrave:/robots/schunk-lwa3.zae#body1_motion" name="schunk-lwa3">\n\t\t\t\t<newparam sid="ias_extern_param0">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint0.axis0</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param0_value">\n\t\t\t\t\t<float>57.29577951308232</float>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param1">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint1.axis0</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param1_value">\n\t\t\t\t\t<float>57.29577951308234</float>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param2">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint2.axis0</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param2_value">\n\t\t\t\t\t<float>57.29577951308234</float>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param3">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint3.axis0</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param3_value">\n\t\t\t\t\t<float>57.29577951308231</float>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param4">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint4.axis0</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param4_value">\n\t\t\t\t\t<float>57.29577951308232</float>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param5">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint5.axis0</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param5_value">\n\t\t\t\t\t<float>57.29577951308234</float>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param6">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_body1_kinematics_kmodel1_inst_joint6.axis0</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ias_extern_param6_value">\n\t\t\t\t\t<float>57.29577951308231</float>\n\t\t\t\t</newparam>\n\t\t\t\t<newparam sid="ikmodel_extern0_0">\n\t\t\t\t\t<SIDREF>body1_motion/body1_motion_kmodel1_inst</SIDREF>\n\t\t\t\t</newparam>\n\t\t\t\t<extra type="collision">\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<link_collision_state link="link0">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link1">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link2">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link3">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link4">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link5">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link6">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<link_collision_state link="link7">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link0" url="#g0_link0_extrageom0_self" material="#g0_link0_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link1" url="#g0_link1_extrageom0_self" material="#g0_link1_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link2" url="#g0_link2_extrageom0_self" material="#g0_link2_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link3" url="#g0_link3_extrageom0_self" material="#g0_link3_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link4" url="#g0_link4_extrageom0_self" material="#g0_link4_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link5" url="#g0_link5_extrageom0_self" material="#g0_link5_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link6" url="#g0_link6_extrageom0_self" material="#g0_link6_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link7" url="#g0_link7_extrageom0_self" material="#g0_link7_extrageom0_self_mat"/>\n\t\t\t\t\t</technique>\n\t\t\t\t</extra>\n\t\t\t</instance_articulated_system>\n\t\t</kinematics_scene>\n\t</library_kinematics_scenes>\n\t<library_physics_scenes id="pscenes">\n\t\t<physics_scene id="pscene" name="test_externalref_joints">\n\t\t\t<instance_physics_model url="openrave:/robots/schunk-lwa3.zae#pmodel1" sid="pmodel0_inst" parent="#v1.node0.visual0">\n\t\t\t\t<instance_rigid_body body="rigid0" sid="rigid0" target="#v1.node0.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid1" sid="rigid1" target="#v1.node1.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid2" sid="rigid2" target="#v1.node2.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid3" sid="rigid3" target="#v1.node3.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid4" sid="rigid4" target="#v1.node4.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid5" sid="rigid5" target="#v1.node5.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid6" sid="rigid6" target="#v1.node6.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid7" sid="rigid7" target="#v1.node7.visual0"/>\n\t\t\t</instance_physics_model>\n\t\t\t<technique_common>\n\t\t\t\t<gravity>0 0 -9.797930195020351</gravity>\n\t\t\t</technique_common>\n\t\t</physics_scene>\n\t</library_physics_scenes>\n\t<library_physics_models id="pmodels"/>\n\t<scene>\n\t\t<instance_physics_scene url="#pscene" sid="pscene_inst" name="test_externalref_joints"/>\n\t\t<instance_visual_scene url="#vscene" sid="vscene_inst" name="test_externalref_joints"/>\n\t\t<instance_kinematics_scene url="#kscene" sid="kscene_inst" name="test_externalref_joints">\n\t\t\t<bind_kinematics_model node="visual0/node0">\n\t\t\t\t<param>ikmodel_extern0_0</param>\n\t\t\t</bind_kinematics_model>\n\t\t\t<bind_joint_axis target="visual0/node_joint0_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint1_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param1</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param1_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint2_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param2</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param2_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint3_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param3</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param3_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint4_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param4</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param4_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint5_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param5</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param5_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint6_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param6</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param6_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t</instance_kinematics_scene>\n\t</scene>\n\t<extra id="sensors" type="library_sensors">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n\t<extra id="actuators" type="library_actuators">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n</COLLADA>\n'.find('openrave:/robots/schunk-lwa3.zae')>=0)
>>  assert(len('<?xml version="1.0" encoding="UTF-8"?>\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">\n\t<asset>\n\t\t<contributor>\n\t\t\t<authoring_tool>OpenRAVE Collada Writer v0.3.5</authoring_tool>\n\t\t</contributor>\n\t\t<created>2017-10-13T12:04:04.000000</created>\n\t\t<keywords/>\n\t\t<modified>2017-10-13T12:04:04.000000</modified>\n\t\t<unit/>\n\t\t<up_axis>Z_UP</up_axis>\n\t</asset>\n\t<library_visual_scenes id="vscenes">\n\t\t<visual_scene id="vscene" name="test_externalref_joints">\n\t\t\t<node id="visual0" name="schunk-lwa3" sid="visual0">\n\t\t\t\t<translate sid="translate">0 0 0</translate>\n\t\t\t\t<rotate sid="rotate">1 0 0 0</rotate>\n\t\t\t\t<instance_node url="openrave:/robots/schunk-lwa3.zae#v1.node0" sid="node0">\n\t\t\t\t\t<extra name=".visual0" type="idsuffix"/>\n\t\t\t\t</instance_node>\n\t\t\t</node>\n\t\t</visual_scene>\n\t</library_visual_scenes>\n\t<library_geometries id="geometries">\n\t\t<geometry id="g0_link0_extrageom0_self">\n\t\t\t<mesh>\n\t\t\t\t<source id="g0_link0_extrageom0_self_positions">\n\t\t\t\t\t<float_array id="g0_link0_extrageom0_self_positions-array" count="1008" digits="2490384">0 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.1 -1.86517e-17 -0.042 0.1 -1.86517e-17 -0.042 0.1 1.86517e-17 0.042 0.1 -1.86517e-17 -0.042 0.1 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0 -1.86517e-17 -0.042 0.0973045 -0.0230616 -0.042 0.1 -1.86517e-17 -0.042 0 1.86517e-17 0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0.1 -1.86517e-17 -0.042 0.0973045 -0.0230616 -0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 -0.042 0.1 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0 -1.86517e-17 -0.042 0.08936330000000001 -0.0448799 -0.042 0.0973045 -0.0230616 -0.042 0 1.86517e-17 0.042 0.0973045 -0.0230616 0.042 0.08936330000000001 -0.0448799 0.042 0.0973045 -0.0230616 -0.042 0.08936330000000001 -0.0448799 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material="#g0_link5_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link6" url="#g0_link6_extrageom0_self" material="#g0_link6_extrageom0_self_mat"/>\n\t\t\t\t\t\t<bind_instance_geometry type="self" link="link7" url="#g0_link7_extrageom0_self" material="#g0_link7_extrageom0_self_mat"/>\n\t\t\t\t\t</technique>\n\t\t\t\t</extra>\n\t\t\t</instance_articulated_system>\n\t\t</kinematics_scene>\n\t</library_kinematics_scenes>\n\t<library_physics_scenes id="pscenes">\n\t\t<physics_scene id="pscene" name="test_externalref_joints">\n\t\t\t<instance_physics_model url="openrave:/robots/schunk-lwa3.zae#pmodel1" sid="pmodel0_inst" parent="#v1.node0.visual0">\n\t\t\t\t<instance_rigid_body body="rigid0" sid="rigid0" target="#v1.node0.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid1" sid="rigid1" target="#v1.node1.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid2" sid="rigid2" target="#v1.node2.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid3" sid="rigid3" target="#v1.node3.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid4" sid="rigid4" target="#v1.node4.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid5" sid="rigid5" target="#v1.node5.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid6" sid="rigid6" target="#v1.node6.visual0"/>\n\t\t\t\t<instance_rigid_body body="rigid7" sid="rigid7" target="#v1.node7.visual0"/>\n\t\t\t</instance_physics_model>\n\t\t\t<technique_common>\n\t\t\t\t<gravity>0 0 -9.797930195020351</gravity>\n\t\t\t</technique_common>\n\t\t</physics_scene>\n\t</library_physics_scenes>\n\t<library_physics_models id="pmodels"/>\n\t<scene>\n\t\t<instance_physics_scene url="#pscene" sid="pscene_inst" name="test_externalref_joints"/>\n\t\t<instance_visual_scene url="#vscene" sid="vscene_inst" name="test_externalref_joints"/>\n\t\t<instance_kinematics_scene url="#kscene" sid="kscene_inst" name="test_externalref_joints">\n\t\t\t<bind_kinematics_model node="visual0/node0">\n\t\t\t\t<param>ikmodel_extern0_0</param>\n\t\t\t</bind_kinematics_model>\n\t\t\t<bind_joint_axis target="visual0/node_joint0_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint1_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param1</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param1_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint2_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param2</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param2_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint3_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param3</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param3_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint4_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param4</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param4_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint5_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param5</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param5_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint6_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>ias_extern_param6</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>ias_extern_param6_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t</instance_kinematics_scene>\n\t</scene>\n\t<extra id="sensors" type="library_sensors">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n\t<extra id="actuators" type="library_actuators">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n</COLLADA>\n')<10000) # should be small
    assert(RaveGetEnvironment(2).Load('test_externalref_joints.dae'))
    <module 'openravepy._openravepy_.misc' from '/home/thofmann/rpmbuild/BUILDROOT/openrave-0.9.0-1.fc26.x86_64/usr/lib64/python2.7/site-packages/openravepy/_openravepy_/misc.pyc'>.CompareBodies(RaveGetEnvironment(1).GetRobot('schunk-lwa3'),RaveGetEnvironment(2).GetRobots()[0])
    

======================================================================
FAIL: test_databases.TestDatabases.test_ikmodulegeneration
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_databases.py", line 38, in test_ikmodulegeneration
    assert(out is not None)
AssertionError: 
    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.module,'ikfast') = RaveCreateModule(RaveGetEnvironment(1),'ikfast')
    RaveGetEnvironment(1).Add(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.module,'ikfast'))
    None=RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.module,'ikfast').SendCommand('LoadIKFastSolver %s %d 1'%(RaveGetEnvironment(1).GetRobot('Katana6M180').GetName(),openravepy._openravepy_.openravepy_int.IkParameterizationType.TranslationDirection5D))
>>  assert(None is not None)
    assert(RaveGetEnvironment(1).GetRobot('Katana6M180').GetManipulator('arm').GetIkSolver() is not None)
    

======================================================================
FAIL: test_collada.TestCOLLADA.test_writekinematicsonly
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_collada.py", line 414, in test_writekinematicsonly
    assert(len(filedata)<400000) # should be ~331kb
AssertionError: 
    RaveGetEnvironment(1).GetRobot('pr2') = <test_collada.TestCOLLADA object at 0x7f21d5e41110>.LoadRobot('robots/pr2-beta-static.zae')
    RaveGetEnvironment(1).Save('test_writekinematicsonly.dae',Environment.SelectionOptions.Body,{'target':RaveGetEnvironment(1).GetRobot('pr2').GetName(), 'skipwrite':'visual readable sensors physics'})
    '<?xml version="1.0" encoding="UTF-8"?>\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">\n\t<asset>\n\t\t<contributor>\n\t\t\t<authoring_tool>OpenRAVE Collada Writer v0.3.5</authoring_tool>\n\t\t</contributor>\n\t\t<created>2017-10-13T12:04:06.000000</created>\n\t\t<keywords/>\n\t\t<modified>2017-10-13T12:04:06.000000</modified>\n\t\t<unit/>\n\t\t<up_axis>Z_UP</up_axis>\n\t</asset>\n\t<library_geometries id="geometries">\n\t\t<geometry id="g0_link1_extrageom0_self">\n\t\t\t<mesh>\n\t\t\t\t<source id="g0_link1_extrageom0_self_positions">\n\t\t\t\t\t<float_array id="g0_link1_extrageom0_self_positions-array" count="10800" digits="2490384">0.300231 -0.295105 0.0897961 0.296853 -0.290197 0.202823 0.274385 -0.316051 0.09226239999999999 0.239326 -0.32803 0.0955081 0.232397 -0.325867 0.204974 0.219414 -0.32824 0.146353 0.296853 -0.290197 0.202823 0.300231 -0.295105 0.0897961 0.314454 -0.275968 0.08846229999999999 0.32864 -0.219923 0.08797240000000001 0.322529 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0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_l_finger_joint" sid="joint34">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_motor_slider_joint" sid="joint35">\n\t\t\t\t\t<prismatic sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-0.1</min>\n\t\t\t\t\t\t\t<max>0.1</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</prismatic>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_motor_screw_joint" sid="joint36">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_joint" sid="joint37">\n\t\t\t\t\t<prismatic sid="axis0">\n\t\t\t\t\t\t<axis>0 0 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1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_gazebo_r_stereo_camera_frame_joint" sid="joint48">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_gazebo_r_stereo_camera_optical_frame_joint" sid="joint49">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_optical_frame_joint" sid="joint50">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_frame_joint" sid="joint51">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_l_stereo_camera_frame_joint" sid="joint52">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_l_stereo_camera_optical_frame_joint" sid="joint53">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_r_stereo_camera_frame_joint" sid="joint54">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_r_stereo_camera_optical_frame_joint" sid="joint55">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_optical_frame_joint" sid="joint56">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="high_def_frame_joint" sid="joint57">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="high_def_optical_frame_joint" sid="joint58">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_upper_arm_joint" sid="joint59">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_forearm_cam_frame_joint" sid="joint60">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_forearm_cam_optical_frame_joint" sid="joint61">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_forearm_joint" sid="joint62">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_palm_joint" sid="joint63">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_l_finger_tip_joint" sid="joint64">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_led_joint" sid="joint65">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_motor_accelerometer_joint" sid="joint66">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_r_finger_joint" sid="joint67">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_r_finger_tip_joint" sid="joint68">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_tool_joint" sid="joint69">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="laser_tilt_joint" sid="joint70">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_upper_arm_joint" sid="joint71">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_forearm_cam_frame_joint" sid="joint72">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_forearm_cam_optical_frame_joint" sid="joint73">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_forearm_joint" sid="joint74">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_palm_joint" sid="joint75">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_l_finger_tip_joint" sid="joint76">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_led_joint" sid="joint77">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_motor_accelerometer_joint" sid="joint78">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_r_finger_joint" sid="joint79">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_r_finger_tip_joint" sid="joint80">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_tool_joint" sid="joint81">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="imu_joint" sid="joint82">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_torso_lift_side_plate_joint" sid="joint83">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_torso_lift_side_plate_joint" sid="joint84">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="base_bellow_joint" sid="joint85">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="base_laser_joint" sid="joint86">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<link sid="link0" name="base_footprint">\n\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t<attachment_full joint="kmodel0/joint39">\n\t\t\t\t\t\t<translate>0 0 0.051</translate>\n\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t<link sid="link1" name="base_link">\n\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint0">\n\t\t\t\t\t\t\t\t<translate>-0.2246 0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link2" name="bl_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint1">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link3" name="bl_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 3.081487911019577e-33 1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint2">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link4" name="bl_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -9.244463733058732e-33 -4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint3">\n\t\t\t\t\t\t\t\t<translate>-0.2246 -0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link5" name="br_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint4">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link6" name="br_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 9.244463733058732e-33 4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint5">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link7" name="br_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -3.081487911019577e-33 -1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint6">\n\t\t\t\t\t\t\t\t<translate>0.2246 0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link8" name="fl_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint7">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link9" name="fl_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 3.081487911019577e-33 1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint8">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link10" name="fl_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -9.244463733058732e-33 -4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint9">\n\t\t\t\t\t\t\t\t<translate>0.2246 -0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link11" name="fr_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint10">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link12" name="fr_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 9.244463733058732e-33 4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint11">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link13" name="fr_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -3.081487911019577e-33 -1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint12">\n\t\t\t\t\t\t\t\t<translate>-0.05 0 0.739675</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link14" name="torso_lift_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint13">\n\t\t\t\t\t\t\t\t\t\t<translate>-0.01707 0 0.38145</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link15" name="head_pan_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>-3.469446951953614e-18 0 5.551115123125783e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint14">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.068 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link16" name="head_tilt_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint40">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.0232 0 0.0645</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link17" name="head_plate_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint41">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0.109 0.035</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link18" name="projector_wg6802418_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -8.326672684688674e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint42">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link19" name="projector_wg6802418_child_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 2.544443745170813e-14</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint43">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link20" name="sensor_mount_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint44">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0.003</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link21" name="double_stereo_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -1.084202172485504e-16</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint45">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0.06 0.0305</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link22" name="narrow_stereo_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint46">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link23" name="narrow_stereo_gazebo_l_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint47">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link24" name="narrow_stereo_gazebo_l_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint48">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 -0.09 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link25" name="narrow_stereo_gazebo_r_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint49">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link26" name="narrow_stereo_gazebo_r_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint50">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link27" name="narrow_stereo_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint51">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0.03 0.0305</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link28" name="wide_stereo_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint52">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link29" name="wide_stereo_gazebo_l_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint53">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link30" name="wide_stereo_gazebo_l_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint54">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 -0.09 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link31" name="wide_stereo_gazebo_r_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint55">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link32" name="wide_stereo_gazebo_r_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint56">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link33" name="wide_stereo_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint57">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 -0.109 0.035</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link34" name="high_def_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -8.326672684688674e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint58">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link35" name="high_def_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint15">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.188 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link36" name="l_shoulder_pan_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint16">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.1 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link37" name="l_shoulder_lift_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint17">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link38" name="l_upper_arm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint59">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link39" name="l_upper_arm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint18">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.4 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link40" name="l_elbow_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint19">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link41" name="l_forearm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint60">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.135 0 0.044</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-0.9999999999999947 1.038646383344566e-07 0 90.00002058399679</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link42" name="l_forearm_cam_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-5.551115555549146e-17 -4.163335765779274e-17 -2.072278605010378e-23</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.010269899912363e-15 -9.993571873982158e-17 -1 32.25005264914854</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint61">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link43" name="l_forearm_cam_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-7.850462293418878e-17 -4.940212093080635e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint62">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link44" name="l_forearm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint20">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.321 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link45" name="l_wrist_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint21">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link46" name="l_wrist_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint63">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link47" name="l_gripper_palm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint22">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link48" name="l_gripper_l_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint64">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link49" name="l_gripper_l_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 1.168432953743422e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint23">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.16828 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link50" name="l_gripper_motor_slider_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-6.162975822039155e-33 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint24">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link51" name="l_gripper_motor_screw_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint65">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.0513 0 0.0244</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link52" name="l_gripper_led_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>1.387778780781446e-17 0 -2.42861286636753e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint66">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link53" name="l_gripper_motor_accelerometer_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint67">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 -0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link54" name="l_gripper_r_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 -1.062211776130384e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint68">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 -0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link55" name="l_gripper_r_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint25">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link56" name="l_gripper_l_finger_tip_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint69">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.18 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link57" name="l_gripper_tool_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint26">\n\t\t\t\t\t\t\t\t\t\t<translate>0.09893 0 0.227</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link58" name="laser_tilt_mount_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -8.326672684688674e-17 1.848892746611746e-32</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint70">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0.03</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link59" name="laser_tilt_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint27">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.188 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link60" name="r_shoulder_pan_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint28">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.1 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link61" name="r_shoulder_lift_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint29">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link62" name="r_upper_arm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint71">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link63" name="r_upper_arm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint30">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.4 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link64" name="r_elbow_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint31">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link65" name="r_forearm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint72">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.135 0 0.044</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0.9999999999999947 1.038646383344566e-07 0 90.00002058399679</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link66" name="r_forearm_cam_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-5.551115555549146e-17 4.163335765779274e-17 -2.072278605010378e-23</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1.010269899912363e-15 -9.993571873982158e-17 1 32.25005264914854</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint73">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link67" name="r_forearm_cam_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.299347170293091e-17 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint74">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link68" name="r_forearm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint32">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.321 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link69" name="r_wrist_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint33">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link70" name="r_wrist_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint75">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link71" name="r_gripper_palm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint34">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link72" name="r_gripper_l_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint76">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link73" name="r_gripper_l_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 1.168432953743422e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint35">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.16828 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link74" name="r_gripper_motor_slider_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-6.162975822039155e-33 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint36">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link75" name="r_gripper_motor_screw_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint77">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.0513 0 0.0244</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link76" name="r_gripper_led_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>1.387778780781446e-17 0 -2.42861286636753e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint78">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link77" name="r_gripper_motor_accelerometer_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint79">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 -0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link78" name="r_gripper_r_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 -1.062211776130384e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint80">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 -0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link79" name="r_gripper_r_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint37">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link80" name="r_gripper_l_finger_tip_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint81">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.18 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link81" name="r_gripper_tool_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint82">\n\t\t\t\t\t\t\t\t\t\t<translate>-0.02977 -0.1497 0.164</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link82" name="imu_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>3.469446951953617e-18 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint83">\n\t\t\t\t\t\t\t\t\t\t<translate>0.0535 0.209285 0.176625</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link83" name="l_torso_lift_side_plate_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint84">\n\t\t\t\t\t\t\t\t\t\t<translate>0.0535 -0.209285 0.176625</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link84" name="r_torso_lift_side_plate_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint38">\n\t\t\t\t\t\t\t\t<translate>-0.15 0 0.7</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link85" name="torso_lift_motor_screw_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint85">\n\t\t\t\t\t\t\t\t<translate>-0.29 0 0.8</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link86" name="base_bellow_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint86">\n\t\t\t\t\t\t\t\t<translate>0.275 0 0.252</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link87" name="base_laser_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t</link>\n\t\t\t\t\t</attachment_full>\n\t\t\t\t</link>\n\t\t\t\t<formula sid="joint64.formula">\n\t\t\t\t\t<target>\n\t\t\t\t\t\t<param>kmodel0/joint64</param>\n\t\t\t\t\t</target>\n\t\t\t\t\t<technique_common>\n\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t</math>\n\t\t\t\t\t</technique_common>\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<equation type="position">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="first_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="second_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t</technique>\n\t\t\t\t</formula>\n\t\t\t\t<formula sid="joint67.formula">\n\t\t\t\t\t<target>\n\t\t\t\t\t\t<param>kmodel0/joint67</param>\n\t\t\t\t\t</target>\n\t\t\t\t\t<technique_common>\n\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t</math>\n\t\t\t\t\t</technique_common>\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<equation type="position">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="first_partial" 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link="kmodel0/link49">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link50">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link51">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link52">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link53">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link54">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link55">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link56">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state 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link="kmodel0/link65">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link66">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link67">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link68">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link69">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link70">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link71">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link72">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state 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link="kmodel0/link81">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link82">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link83">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link84">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link85">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link86">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<link_collision_state link="kmodel0/link87">\n\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t</link_collision_state>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link1" url="#g0_link1_extrageom0_self" material="#g0_link1_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link2" url="#g0_link2_extrageom0_self" material="#g0_link2_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link3" url="#g0_link3_extrageom0_self" material="#g0_link3_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link4" url="#g0_link4_extrageom0_self" material="#g0_link4_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link5" url="#g0_link5_extrageom0_self" material="#g0_link5_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link6" url="#g0_link6_extrageom0_self" material="#g0_link6_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link7" url="#g0_link7_extrageom0_self" material="#g0_link7_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link8" url="#g0_link8_extrageom0_self" material="#g0_link8_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link9" url="#g0_link9_extrageom0_self" material="#g0_link9_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link10" url="#g0_link10_extrageom0_self" material="#g0_link10_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link11" url="#g0_link11_extrageom0_self" material="#g0_link11_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link12" url="#g0_link12_extrageom0_self" material="#g0_link12_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link13" url="#g0_link13_extrageom0_self" material="#g0_link13_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link14" url="#g0_link14_extrageom0_self" material="#g0_link14_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link15" url="#g0_link15_extrageom0_self" material="#g0_link15_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link16" url="#g0_link16_extrageom0_self" material="#g0_link16_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link36" url="#g0_link36_extrageom0_self" material="#g0_link36_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link37" url="#g0_link37_extrageom0_self" material="#g0_link37_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link38" url="#g0_link38_extrageom0_self" material="#g0_link38_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link39" url="#g0_link39_extrageom0_self" material="#g0_link39_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link40" url="#g0_link40_extrageom0_self" material="#g0_link40_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link41" url="#g0_link41_extrageom0_self" material="#g0_link41_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link44" url="#g0_link44_extrageom0_self" material="#g0_link44_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link45" url="#g0_link45_extrageom0_self" material="#g0_link45_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link46" url="#g0_link46_extrageom0_self" material="#g0_link46_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link47" url="#g0_link47_extrageom0_self" material="#g0_link47_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link48" url="#g0_link48_extrageom0_self" material="#g0_link48_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link49" url="#g0_link49_extrageom0_self" material="#g0_link49_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link54" url="#g0_link54_extrageom0_self" material="#g0_link54_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link55" url="#g0_link55_extrageom0_self" material="#g0_link55_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link58" url="#g0_link58_extrageom0_self" material="#g0_link58_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link60" url="#g0_link60_extrageom0_self" material="#g0_link60_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link61" url="#g0_link61_extrageom0_self" material="#g0_link61_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link62" url="#g0_link62_extrageom0_self" material="#g0_link62_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link63" url="#g0_link63_extrageom0_self" 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sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>3</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst4" axis="kmodel0/joint4/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>4</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst5" axis="kmodel0/joint5/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam 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sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>8</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst9" axis="kmodel0/joint9/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam 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sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>10</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst11" axis="kmodel0/joint11/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>11</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst12" axis="kmodel0/joint12/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0.0115</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.305</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>12</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst13" axis="kmodel0/joint13/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-163.694</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>163.694</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>13</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst14" axis="kmodel0/joint14/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-21.2682</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>74.2702</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>14</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst15" axis="kmodel0/joint15/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-32.3493</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>122.349</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>15</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst16" axis="kmodel0/joint16/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-20.2598</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>74.27249999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>16</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst17" axis="kmodel0/joint17/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-37.2423</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>214.859</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>17</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst18" axis="kmodel0/joint18/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-121.542</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-8.59437</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>18</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst19" axis="kmodel0/joint19/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>19</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst20" axis="kmodel0/joint20/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-114.592</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-5.72958</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>20</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst21" axis="kmodel0/joint21/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>21</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst22" axis="kmodel0/joint22/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>22</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst23" axis="kmodel0/joint23/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>23</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst24" axis="kmodel0/joint24/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>24</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst25" axis="kmodel0/joint25/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.01</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.08799999999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>25</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst26" axis="kmodel0/joint26/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-42.1353</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>82.1352</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>26</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst27" axis="kmodel0/joint27/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-122.349</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>32.3493</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>27</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst28" axis="kmodel0/joint28/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-20.2598</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>74.27249999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>28</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst29" axis="kmodel0/joint29/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-214.859</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>37.2423</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>29</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst30" axis="kmodel0/joint30/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-121.542</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-8.59437</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>30</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst31" axis="kmodel0/joint31/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>31</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst32" axis="kmodel0/joint32/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-114.592</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-5.72958</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>32</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst33" axis="kmodel0/joint33/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>33</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst34" axis="kmodel0/joint34/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>34</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst35" axis="kmodel0/joint35/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>35</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst36" axis="kmodel0/joint36/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>36</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst37" axis="kmodel0/joint37/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.01</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.08799999999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>37</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst38" axis="kmodel0/joint38/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>38</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst39" axis="kmodel0/joint39/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst40" axis="kmodel0/joint40/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst41" axis="kmodel0/joint41/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst42" axis="kmodel0/joint42/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst43" axis="kmodel0/joint43/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst44" axis="kmodel0/joint44/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst45" axis="kmodel0/joint45/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst46" axis="kmodel0/joint46/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst47" axis="kmodel0/joint47/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst48" axis="kmodel0/joint48/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst49" axis="kmodel0/joint49/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst50" axis="kmodel0/joint50/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst51" axis="kmodel0/joint51/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst52" axis="kmodel0/joint52/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst53" axis="kmodel0/joint53/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst54" axis="kmodel0/joint54/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst55" axis="kmodel0/joint55/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst56" axis="kmodel0/joint56/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst57" axis="kmodel0/joint57/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst58" axis="kmodel0/joint58/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst59" axis="kmodel0/joint59/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst60" axis="kmodel0/joint60/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst61" axis="kmodel0/joint61/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst62" axis="kmodel0/joint62/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst63" axis="kmodel0/joint63/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst64" axis="kmodel0/joint64/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst65" axis="kmodel0/joint65/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst66" axis="kmodel0/joint66/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst67" axis="kmodel0/joint67/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst68" axis="kmodel0/joint68/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst69" axis="kmodel0/joint69/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst70" axis="kmodel0/joint70/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst71" axis="kmodel0/joint71/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst72" axis="kmodel0/joint72/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst73" axis="kmodel0/joint73/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst74" axis="kmodel0/joint74/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst75" axis="kmodel0/joint75/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst76" axis="kmodel0/joint76/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst77" axis="kmodel0/joint77/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst78" axis="kmodel0/joint78/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst79" axis="kmodel0/joint79/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst80" axis="kmodel0/joint80/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst81" axis="kmodel0/joint81/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst82" axis="kmodel0/joint82/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index 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target="visual0/node_joint71_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint71.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint71.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint72_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint72.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint72.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint73_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint73.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint73.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint74_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint74.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint74.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint75_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint75.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint75.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint76_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint76.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint76.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint77_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint77.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint77.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint78_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint78.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint78.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint79_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint79.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint79.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint80_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint80.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint80.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint81_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint81.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint81.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint82_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint83_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint84_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint85_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint86_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t</instance_kinematics_scene>\n\t</scene>\n\t<extra id="sensors" type="library_sensors">\n\t\t<technique profile="OpenRAVE">\n\t\t\t<sensor id="robot0_sensor0" name="pr2:r_forearm_cam_optical_sensor" type="base_pinhole_camera">\n\t\t\t\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\n\t\t\t\t<focal_length>0.01</focal_length>\n\t\t\t\t<distortion_model>0</distortion_model>\n\t\t\t\t<image_dimensions>640 480</image_dimensions>\n\t\t\t\t<measurement_time>0.039999999100000003</measurement_time>\n\t\t\t\t<gain>1</gain>\n\t\t\t</sensor>\n\t\t\t<sensor id="robot0_sensor1" name="pr2:l_forearm_cam_optical_sensor" type="base_pinhole_camera">\n\t\t\t\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\n\t\t\t\t<focal_length>0.01</focal_length>\n\t\t\t\t<distortion_model>0</distortion_model>\n\t\t\t\t<image_dimensions>640 480</image_dimensions>\n\t\t\t\t<measurement_time>0.039999999100000003</measurement_time>\n\t\t\t\t<gain>1</gain>\n\t\t\t</sensor>\n\t\t\t<sensor id="robot0_sensor2" name="pr2:tilt_laser" type="base_laser2d"/>\n\t\t\t<sensor id="robot0_sensor3" name="pr2:base_laser" type="base_laser2d"/>\n\t\t</technique>\n\t</extra>\n\t<extra id="actuators" type="library_actuators">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n</COLLADA>\n'=open('test_writekinematicsonly.dae','r').read()
>>  assert(len('<?xml version="1.0" encoding="UTF-8"?>\n<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">\n\t<asset>\n\t\t<contributor>\n\t\t\t<authoring_tool>OpenRAVE Collada Writer v0.3.5</authoring_tool>\n\t\t</contributor>\n\t\t<created>2017-10-13T12:04:06.000000</created>\n\t\t<keywords/>\n\t\t<modified>2017-10-13T12:04:06.000000</modified>\n\t\t<unit/>\n\t\t<up_axis>Z_UP</up_axis>\n\t</asset>\n\t<library_geometries id="geometries">\n\t\t<geometry id="g0_link1_extrageom0_self">\n\t\t\t<mesh>\n\t\t\t\t<source id="g0_link1_extrageom0_self_positions">\n\t\t\t\t\t<float_array id="g0_link1_extrageom0_self_positions-array" count="10800" digits="2490384">0.300231 -0.295105 0.0897961 0.296853 -0.290197 0.202823 0.274385 -0.316051 0.09226239999999999 0.239326 -0.32803 0.0955081 0.232397 -0.325867 0.204974 0.219414 -0.32824 0.146353 0.296853 -0.290197 0.202823 0.300231 -0.295105 0.0897961 0.314454 -0.275968 0.08846229999999999 0.32864 -0.219923 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2359 2360 2361 2362 2363 2364 2365 2366 2367 2368 2369 2370 2371 2372 2373 2374 2375 2376 2377 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389 2390 2391 2392 2393 2394 2395 2396 2397 2398 2399 2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425 2426 2427 2428 2429 2430 2431 2432 2433 2434 2435 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2452 2453 2454 2455 2456 2457 2458 2459 2460 2461 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473 2474 2475 2476 2477 2478 2479 2480 2481 2482 2483 2484 2485 2486 2487 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521 2522 2523 2524 2525 2526 2527 2528 2529 2530 2531 2532 2533 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557 2558 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2759 2760 2761 2762 2763 2764 2765 2766 2767 2768 2769 2770 2771 2772 2773 2774 2775 2776 2777 2778 2779 2780 2781 2782 2783 2784 2785 2786 2787 2788 2789 2790 2791 2792 2793 2794 2795 2796 2797 2798 2799 2800 2801 2802 2803 2804 2805 2806 2807 2808 2809 2810 2811 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821 2822 2823 2824 2825 2826 2827 2828 2829 2830 2831 2832 2833 2834 2835 2836 2837 2838 2839 2840 2841 2842 2843 2844 2845 2846 2847 2848 2849 2850 2851 2852 2853 2854 2855 2856 2857 2858 2859 2860 2861 2862 2863 2864 2865 2866 2867 2868 2869 2870 2871 2872 2873 2874 2875 2876 2877 2878 2879 2880 2881 2882 2883 2884 2885 2886 2887 2888 2889 2890 2891 2892 2893 2894 2895 2896 2897 2898 2899 2900 2901 2902 2903 2904 2905 2906 2907 2908 2909 2910 2911 2912 2913 2914 2915 2916 2917 2918 2919 2920 2921 2922 2923 2924 2925 2926 2927 2928 2929 2930 2931 2932 2933 2934 2935 2936 2937 2938 2939 2940 2941 2942 2943 2944 2945 2946 2947 2948 2949 2950 2951 2952 2953 2954 2955 2956 2957 2958 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3359 3360 3361 3362 3363 3364 3365 3366 3367 3368 3369 3370 3371 3372 3373 3374 3375 3376 3377 3378 3379 3380 3381 3382 3383 3384 3385 3386 3387 3388 3389 3390 3391 3392 3393 3394 3395 3396 3397 3398 3399 3400 3401 3402 3403 3404 3405 3406 3407 3408 3409 3410 3411 3412 3413 3414 3415 3416 3417 3418 3419 3420 3421 3422 3423 3424 3425 3426 3427 3428 3429 3430 3431 3432 3433 3434 3435 3436 3437 3438 3439 3440 3441 3442 3443 3444 3445 3446 3447 3448 3449 3450 3451 3452 3453 3454 3455 3456 3457 3458 3459 3460 3461 3462 3463 3464 3465 3466 3467 3468 3469 3470 3471 3472 3473 3474 3475 3476 3477 3478 3479 3480 3481 3482 3483 3484 3485 3486 3487 3488 3489 3490 3491 3492 3493 3494 3495 3496 3497 3498 3499 3500 3501 3502 3503 3504 3505 3506 3507 3508 3509 3510 3511 3512 3513 3514 3515 3516 3517 3518 3519 3520 3521 3522 3523 3524 3525 3526 3527 3528 3529 3530 3531 3532 3533 3534 3535 3536 3537 3538 3539 3540 3541 3542 3543 3544 3545 3546 3547 3548 3549 3550 3551 3552 3553 3554 3555 3556 3557 3558 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1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-121.542</min>\n\t\t\t\t\t\t\t<max>-8.59437</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_forearm_roll_joint" sid="joint19">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_wrist_flex_joint" sid="joint20">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-114.592</min>\n\t\t\t\t\t\t\t<max>-5.72958</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_wrist_roll_joint" sid="joint21">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_l_finger_joint" sid="joint22">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_motor_slider_joint" sid="joint23">\n\t\t\t\t\t<prismatic sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-0.1</min>\n\t\t\t\t\t\t\t<max>0.1</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</prismatic>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_motor_screw_joint" sid="joint24">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_joint" sid="joint25">\n\t\t\t\t\t<prismatic sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-0.01</min>\n\t\t\t\t\t\t\t<max>0.08799999999999999</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</prismatic>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="laser_tilt_mount_joint" sid="joint26">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-42.1353</min>\n\t\t\t\t\t\t\t<max>82.1352</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_shoulder_pan_joint" sid="joint27">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-122.349</min>\n\t\t\t\t\t\t\t<max>32.3493</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_shoulder_lift_joint" sid="joint28">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-20.2598</min>\n\t\t\t\t\t\t\t<max>74.27249999999999</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_upper_arm_roll_joint" sid="joint29">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-214.859</min>\n\t\t\t\t\t\t\t<max>37.2423</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_elbow_flex_joint" sid="joint30">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-121.542</min>\n\t\t\t\t\t\t\t<max>-8.59437</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_forearm_roll_joint" sid="joint31">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_wrist_flex_joint" sid="joint32">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-114.592</min>\n\t\t\t\t\t\t\t<max>-5.72958</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_wrist_roll_joint" sid="joint33">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_l_finger_joint" sid="joint34">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_motor_slider_joint" sid="joint35">\n\t\t\t\t\t<prismatic sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-0.1</min>\n\t\t\t\t\t\t\t<max>0.1</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</prismatic>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_motor_screw_joint" sid="joint36">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_joint" sid="joint37">\n\t\t\t\t\t<prismatic sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>-0.01</min>\n\t\t\t\t\t\t\t<max>0.08799999999999999</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</prismatic>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="torso_lift_motor_screw_joint" sid="joint38">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="base_footprint_joint" sid="joint39">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="head_plate_frame_joint" sid="joint40">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="projector_wg6802418_frame_joint" sid="joint41">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="projector_wg6802418_child_frame_joint" sid="joint42">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="sensor_mount_frame_joint" sid="joint43">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="double_stereo_frame_joint" sid="joint44">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_frame_joint" sid="joint45">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_gazebo_l_stereo_camera_frame_joint" sid="joint46">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_gazebo_l_stereo_camera_optical_frame_joint" sid="joint47">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_gazebo_r_stereo_camera_frame_joint" sid="joint48">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_gazebo_r_stereo_camera_optical_frame_joint" sid="joint49">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="narrow_stereo_optical_frame_joint" sid="joint50">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_frame_joint" sid="joint51">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_l_stereo_camera_frame_joint" sid="joint52">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_l_stereo_camera_optical_frame_joint" sid="joint53">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_r_stereo_camera_frame_joint" sid="joint54">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_gazebo_r_stereo_camera_optical_frame_joint" sid="joint55">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="wide_stereo_optical_frame_joint" sid="joint56">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="high_def_frame_joint" sid="joint57">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="high_def_optical_frame_joint" sid="joint58">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_upper_arm_joint" sid="joint59">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_forearm_cam_frame_joint" sid="joint60">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_forearm_cam_optical_frame_joint" sid="joint61">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_forearm_joint" sid="joint62">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_palm_joint" sid="joint63">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_l_finger_tip_joint" sid="joint64">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_led_joint" sid="joint65">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_motor_accelerometer_joint" sid="joint66">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_r_finger_joint" sid="joint67">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_r_finger_tip_joint" sid="joint68">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_gripper_tool_joint" sid="joint69">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="laser_tilt_joint" sid="joint70">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_upper_arm_joint" sid="joint71">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_forearm_cam_frame_joint" sid="joint72">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_forearm_cam_optical_frame_joint" sid="joint73">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_forearm_joint" sid="joint74">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_palm_joint" sid="joint75">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_l_finger_tip_joint" sid="joint76">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_led_joint" sid="joint77">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_motor_accelerometer_joint" sid="joint78">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_r_finger_joint" sid="joint79">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_r_finger_tip_joint" sid="joint80">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>31.3981</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_gripper_tool_joint" sid="joint81">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="imu_joint" sid="joint82">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="l_torso_lift_side_plate_joint" sid="joint83">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="r_torso_lift_side_plate_joint" sid="joint84">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="base_bellow_joint" sid="joint85">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<joint name="base_laser_joint" sid="joint86">\n\t\t\t\t\t<revolute sid="axis0">\n\t\t\t\t\t\t<axis>0 0 1</axis>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>0</min>\n\t\t\t\t\t\t\t<max>0</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</revolute>\n\t\t\t\t</joint>\n\t\t\t\t<link sid="link0" name="base_footprint">\n\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t<attachment_full joint="kmodel0/joint39">\n\t\t\t\t\t\t<translate>0 0 0.051</translate>\n\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t<link sid="link1" name="base_link">\n\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint0">\n\t\t\t\t\t\t\t\t<translate>-0.2246 0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link2" name="bl_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint1">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link3" name="bl_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 3.081487911019577e-33 1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint2">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link4" name="bl_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -9.244463733058732e-33 -4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint3">\n\t\t\t\t\t\t\t\t<translate>-0.2246 -0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link5" name="br_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint4">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link6" name="br_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 9.244463733058732e-33 4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint5">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link7" name="br_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -3.081487911019577e-33 -1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint6">\n\t\t\t\t\t\t\t\t<translate>0.2246 0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link8" name="fl_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint7">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link9" name="fl_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 3.081487911019577e-33 1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint8">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link10" name="fl_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -9.244463733058732e-33 -4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint9">\n\t\t\t\t\t\t\t\t<translate>0.2246 -0.2246 0.0282</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link11" name="fr_caster_rotation_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 -3.469446951953614e-18</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint10">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link12" name="fr_caster_l_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 9.244463733058732e-33 4.163336342344337e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint11">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.049 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link13" name="fr_caster_r_wheel_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -3.081487911019577e-33 -1.387778780781446e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint12">\n\t\t\t\t\t\t\t\t<translate>-0.05 0 0.739675</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link14" name="torso_lift_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint13">\n\t\t\t\t\t\t\t\t\t\t<translate>-0.01707 0 0.38145</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link15" name="head_pan_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>-3.469446951953614e-18 0 5.551115123125783e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint14">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.068 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link16" name="head_tilt_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint40">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.0232 0 0.0645</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link17" name="head_plate_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint41">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0.109 0.035</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link18" name="projector_wg6802418_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -8.326672684688674e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint42">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link19" name="projector_wg6802418_child_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 2.544443745170813e-14</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint43">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link20" name="sensor_mount_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint44">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0.003</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link21" name="double_stereo_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -1.084202172485504e-16</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint45">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0.06 0.0305</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link22" name="narrow_stereo_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint46">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link23" name="narrow_stereo_gazebo_l_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint47">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link24" name="narrow_stereo_gazebo_l_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint48">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 -0.09 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link25" name="narrow_stereo_gazebo_r_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint49">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link26" name="narrow_stereo_gazebo_r_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint50">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link27" name="narrow_stereo_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint51">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0.03 0.0305</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link28" name="wide_stereo_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint52">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link29" name="wide_stereo_gazebo_l_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint53">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link30" name="wide_stereo_gazebo_l_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint54">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 -0.09 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link31" name="wide_stereo_gazebo_r_stereo_camera_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint55">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link32" name="wide_stereo_gazebo_r_stereo_camera_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint56">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link33" name="wide_stereo_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint57">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 -0.109 0.035</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link34" name="high_def_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 -8.326672684688674e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint58">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link35" name="high_def_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.585073405054972e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint15">\n\t\t\t\t\t\t\t\t\t\t<translate>0 0.188 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link36" name="l_shoulder_pan_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint16">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.1 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link37" name="l_shoulder_lift_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint17">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link38" name="l_upper_arm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint59">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link39" name="l_upper_arm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint18">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.4 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link40" name="l_elbow_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint19">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link41" name="l_forearm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint60">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.135 0 0.044</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-0.9999999999999947 1.038646383344566e-07 0 90.00002058399679</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link42" name="l_forearm_cam_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-5.551115555549146e-17 -4.163335765779274e-17 -2.072278605010378e-23</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.010269899912363e-15 -9.993571873982158e-17 -1 32.25005264914854</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint61">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link43" name="l_forearm_cam_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-7.850462293418878e-17 -4.940212093080635e-16 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint62">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link44" name="l_forearm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint20">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.321 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link45" name="l_wrist_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint21">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link46" name="l_wrist_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint63">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link47" name="l_gripper_palm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint22">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link48" name="l_gripper_l_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint64">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link49" name="l_gripper_l_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 1.168432953743422e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint23">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.16828 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link50" name="l_gripper_motor_slider_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-6.162975822039155e-33 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint24">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link51" name="l_gripper_motor_screw_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint65">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.0513 0 0.0244</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link52" name="l_gripper_led_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>1.387778780781446e-17 0 -2.42861286636753e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint66">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link53" name="l_gripper_motor_accelerometer_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint67">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 -0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link54" name="l_gripper_r_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 -1.062211776130384e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint68">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 -0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link55" name="l_gripper_r_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint25">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link56" name="l_gripper_l_finger_tip_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint69">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.18 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link57" name="l_gripper_tool_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint26">\n\t\t\t\t\t\t\t\t\t\t<translate>0.09893 0 0.227</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link58" name="laser_tilt_mount_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 -8.326672684688674e-17 1.848892746611746e-32</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint70">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0.03</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link59" name="laser_tilt_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint27">\n\t\t\t\t\t\t\t\t\t\t<translate>0 -0.188 0</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link60" name="r_shoulder_pan_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint28">\n\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.1 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link61" name="r_shoulder_lift_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint29">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link62" name="r_upper_arm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint71">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link63" name="r_upper_arm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint30">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.4 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link64" name="r_elbow_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint31">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link65" name="r_forearm_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint72">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.135 0 0.044</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0.9999999999999947 1.038646383344566e-07 0 90.00002058399679</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link66" name="r_forearm_cam_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-5.551115555549146e-17 4.163335765779274e-17 -2.072278605010378e-23</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1.010269899912363e-15 -9.993571873982158e-17 1 32.25005264914854</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint73">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1.110223024625157e-16 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link67" name="r_forearm_cam_optical_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>7.850462293418877e-17 -2.299347170293091e-17 -1 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint74">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link68" name="r_forearm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint32">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.321 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link69" name="r_wrist_flex_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint33">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link70" name="r_wrist_roll_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint75">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link71" name="r_gripper_palm_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint34">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link72" name="r_gripper_l_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint76">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link73" name="r_gripper_l_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 1.168432953743422e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint35">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.16828 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link74" name="r_gripper_motor_slider_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>-6.162975822039155e-33 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint36">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link75" name="r_gripper_motor_screw_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint77">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.0513 0 0.0244</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link76" name="r_gripper_led_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>1.387778780781446e-17 0 -2.42861286636753e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint78">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link77" name="r_gripper_motor_accelerometer_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint79">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.07691000000000001 -0.01 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link78" name="r_gripper_r_finger_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>2.775557561562891e-17 8.673617379884035e-18 -1.062211776130384e-33</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 -0 -0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint80">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.09137000000000001 -0.00495 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link79" name="r_gripper_r_finger_tip_link">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 -9.540979117872439e-18 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint37">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>-1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link80" name="r_gripper_l_finger_tip_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 89.99999999999999</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint81">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>0.18 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<link sid="link81" name="r_gripper_tool_frame">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<translate>5.551115123125783e-17 0 0</translate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint82">\n\t\t\t\t\t\t\t\t\t\t<translate>-0.02977 -0.1497 0.164</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>0 -1 0 180</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link82" name="imu_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>3.469446951953617e-18 0 -2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint83">\n\t\t\t\t\t\t\t\t\t\t<translate>0.0535 0.209285 0.176625</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link83" name="l_torso_lift_side_plate_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint84">\n\t\t\t\t\t\t\t\t\t\t<translate>0.0535 -0.209285 0.176625</translate>\n\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t<link sid="link84" name="r_torso_lift_side_plate_link">\n\t\t\t\t\t\t\t\t\t\t\t<translate>0 0 2.775557561562891e-17</translate>\n\t\t\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint38">\n\t\t\t\t\t\t\t\t<translate>-0.15 0 0.7</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link85" name="torso_lift_motor_screw_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint85">\n\t\t\t\t\t\t\t\t<translate>-0.29 0 0.8</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link86" name="base_bellow_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t\t<attachment_full joint="kmodel0/joint86">\n\t\t\t\t\t\t\t\t<translate>0.275 0 0.252</translate>\n\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t<link sid="link87" name="base_laser_link">\n\t\t\t\t\t\t\t\t\t<translate>0 0 0</translate>\n\t\t\t\t\t\t\t\t\t<rotate>1 0 0 0</rotate>\n\t\t\t\t\t\t\t\t</link>\n\t\t\t\t\t\t\t</attachment_full>\n\t\t\t\t\t\t</link>\n\t\t\t\t\t</attachment_full>\n\t\t\t\t</link>\n\t\t\t\t<formula sid="joint64.formula">\n\t\t\t\t\t<target>\n\t\t\t\t\t\t<param>kmodel0/joint64</param>\n\t\t\t\t\t</target>\n\t\t\t\t\t<technique_common>\n\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t</math>\n\t\t\t\t\t</technique_common>\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<equation type="position">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="first_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="second_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t</technique>\n\t\t\t\t</formula>\n\t\t\t\t<formula sid="joint67.formula">\n\t\t\t\t\t<target>\n\t\t\t\t\t\t<param>kmodel0/joint67</param>\n\t\t\t\t\t</target>\n\t\t\t\t\t<technique_common>\n\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t</math>\n\t\t\t\t\t</technique_common>\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<equation type="position">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="first_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="second_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t</technique>\n\t\t\t\t</formula>\n\t\t\t\t<formula sid="joint68.formula">\n\t\t\t\t\t<target>\n\t\t\t\t\t\t<param>kmodel0/joint68</param>\n\t\t\t\t\t</target>\n\t\t\t\t\t<technique_common>\n\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t</math>\n\t\t\t\t\t</technique_common>\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<equation type="position">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint22</csymbol>\n\t\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="first_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="second_partial" target="kmodel0/joint22">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t</technique>\n\t\t\t\t</formula>\n\t\t\t\t<formula sid="joint76.formula">\n\t\t\t\t\t<target>\n\t\t\t\t\t\t<param>kmodel0/joint76</param>\n\t\t\t\t\t</target>\n\t\t\t\t\t<technique_common>\n\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint34</csymbol>\n\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t</math>\n\t\t\t\t\t</technique_common>\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<equation type="position">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint34</csymbol>\n\t\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="first_partial" target="kmodel0/joint34">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t\t<equation type="second_partial" target="kmodel0/joint34">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<cn type="real">1</cn>\n\t\t\t\t\t\t\t</math>\n\t\t\t\t\t\t</equation>\n\t\t\t\t\t</technique>\n\t\t\t\t</formula>\n\t\t\t\t<formula sid="joint79.formula">\n\t\t\t\t\t<target>\n\t\t\t\t\t\t<param>kmodel0/joint79</param>\n\t\t\t\t\t</target>\n\t\t\t\t\t<technique_common>\n\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t<csymbol encoding="COLLADA">kmodel0/joint34</csymbol>\n\t\t\t\t\t\t\t</apply>\n\t\t\t\t\t\t</math>\n\t\t\t\t\t</technique_common>\n\t\t\t\t\t<technique profile="OpenRAVE">\n\t\t\t\t\t\t<equation type="position">\n\t\t\t\t\t\t\t<math xmlns="http://www.w3.org/1998/Math/MathML">\n\t\t\t\t\t\t\t\t<apply>\n  \t\t\t\t\t\t\t\t\t<plus/>\n\t\t\t\t\t\t\t\t\t<cn type="real">0</cn>\n\t\t\t\t\t\t\t\t\t<csymbol 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material="#g0_link63_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link64" url="#g0_link64_extrageom0_self" material="#g0_link64_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link65" url="#g0_link65_extrageom0_self" material="#g0_link65_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link68" url="#g0_link68_extrageom0_self" material="#g0_link68_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link69" url="#g0_link69_extrageom0_self" material="#g0_link69_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link70" url="#g0_link70_extrageom0_self" material="#g0_link70_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link71" url="#g0_link71_extrageom0_self" material="#g0_link71_extrageom0_self_mat"/>\n\t\t\t\t\t<bind_instance_geometry type="self" link="kmodel0/link72" 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sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>5</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst6" axis="kmodel0/joint6/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>6</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst7" axis="kmodel0/joint7/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>7</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst8" axis="kmodel0/joint8/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>8</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst9" axis="kmodel0/joint9/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>9</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst10" axis="kmodel0/joint10/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>10</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst11" axis="kmodel0/joint11/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>11</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst12" axis="kmodel0/joint12/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0.0115</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.305</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>12</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst13" axis="kmodel0/joint13/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-163.694</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>163.694</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>13</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst14" axis="kmodel0/joint14/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-21.2682</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>74.2702</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>14</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst15" axis="kmodel0/joint15/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-32.3493</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>122.349</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>15</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst16" axis="kmodel0/joint16/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-20.2598</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>74.27249999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>16</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst17" axis="kmodel0/joint17/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-37.2423</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>214.859</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>17</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst18" axis="kmodel0/joint18/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-121.542</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-8.59437</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>18</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst19" axis="kmodel0/joint19/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>19</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst20" axis="kmodel0/joint20/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-114.592</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-5.72958</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>20</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst21" axis="kmodel0/joint21/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>21</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst22" axis="kmodel0/joint22/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>22</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst23" axis="kmodel0/joint23/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>23</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst24" axis="kmodel0/joint24/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>24</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst25" axis="kmodel0/joint25/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.01</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.08799999999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>25</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst26" axis="kmodel0/joint26/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-42.1353</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>82.1352</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>26</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst27" axis="kmodel0/joint27/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-122.349</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>32.3493</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>27</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst28" axis="kmodel0/joint28/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-20.2598</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>74.27249999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>28</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst29" axis="kmodel0/joint29/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-214.859</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>37.2423</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>29</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst30" axis="kmodel0/joint30/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-121.542</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-8.59437</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>30</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst31" axis="kmodel0/joint31/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>31</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst32" axis="kmodel0/joint32/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-114.592</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>-5.72958</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>32</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst33" axis="kmodel0/joint33/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>33</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst34" axis="kmodel0/joint34/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>34</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst35" axis="kmodel0/joint35/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>35</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst36" axis="kmodel0/joint36/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>36</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst37" axis="kmodel0/joint37/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>-0.01</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0.08799999999999999</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>37</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst38" axis="kmodel0/joint38/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>true</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>38</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst39" axis="kmodel0/joint39/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst40" axis="kmodel0/joint40/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst41" axis="kmodel0/joint41/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst42" axis="kmodel0/joint42/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst43" axis="kmodel0/joint43/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst44" axis="kmodel0/joint44/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst45" axis="kmodel0/joint45/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst46" axis="kmodel0/joint46/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst47" axis="kmodel0/joint47/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst48" axis="kmodel0/joint48/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst49" axis="kmodel0/joint49/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst50" axis="kmodel0/joint50/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst51" axis="kmodel0/joint51/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst52" axis="kmodel0/joint52/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst53" axis="kmodel0/joint53/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst54" axis="kmodel0/joint54/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst55" axis="kmodel0/joint55/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst56" axis="kmodel0/joint56/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst57" axis="kmodel0/joint57/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst58" axis="kmodel0/joint58/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst59" axis="kmodel0/joint59/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst60" axis="kmodel0/joint60/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst61" axis="kmodel0/joint61/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst62" axis="kmodel0/joint62/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst63" axis="kmodel0/joint63/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst64" axis="kmodel0/joint64/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst65" axis="kmodel0/joint65/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst66" axis="kmodel0/joint66/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst67" axis="kmodel0/joint67/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst68" axis="kmodel0/joint68/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst69" axis="kmodel0/joint69/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst70" axis="kmodel0/joint70/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst71" axis="kmodel0/joint71/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst72" axis="kmodel0/joint72/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst73" axis="kmodel0/joint73/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst74" axis="kmodel0/joint74/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst75" axis="kmodel0/joint75/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst76" axis="kmodel0/joint76/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst77" axis="kmodel0/joint77/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst78" axis="kmodel0/joint78/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst79" axis="kmodel0/joint79/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst80" axis="kmodel0/joint80/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>31.3981</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst81" axis="kmodel0/joint81/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst82" axis="kmodel0/joint82/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst83" axis="kmodel0/joint83/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst84" axis="kmodel0/joint84/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst85" axis="kmodel0/joint85/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t\t<axis_info sid="kaxis_info_inst86" axis="kmodel0/joint86/axis0">\n\t\t\t\t\t\t<newparam sid="active">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="locked">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmin">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="positionmax">\n\t\t\t\t\t\t\t<float>0</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="circular">\n\t\t\t\t\t\t\t<bool>false</bool>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="planning_weight">\n\t\t\t\t\t\t\t<float>1</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<newparam sid="discretization_resolution">\n\t\t\t\t\t\t\t<float>0.02</float>\n\t\t\t\t\t\t</newparam>\n\t\t\t\t\t\t<active>\n\t\t\t\t\t\t\t<param>active</param>\n\t\t\t\t\t\t</active>\n\t\t\t\t\t\t<locked>\n\t\t\t\t\t\t\t<param>locked</param>\n\t\t\t\t\t\t</locked>\n\t\t\t\t\t\t<index semantic="OpenRAVE">\n\t\t\t\t\t\t\t<int>-1</int>\n\t\t\t\t\t\t</index>\n\t\t\t\t\t\t<limits>\n\t\t\t\t\t\t\t<min>\n\t\t\t\t\t\t\t\t<param>positionmin</param>\n\t\t\t\t\t\t\t</min>\n\t\t\t\t\t\t\t<max>\n\t\t\t\t\t\t\t\t<param>positionmax</param>\n\t\t\t\t\t\t\t</max>\n\t\t\t\t\t\t</limits>\n\t\t\t\t\t</axis_info>\n\t\t\t\t</technique_common>\n\t\t\t</kinematics>\n\t\t</articulated_system>\n\t\t<articulated_system id="body0_motion">\n\t\t\t<motion>\n\t\t\t\t<instance_articulated_system url="#body0_kinematics">\n\t\t\t\t\t<newparam sid="body0_motion_body0_kinematics_kmodel0_inst_joint0.axis0">\n\t\t\t\t\t\t<SIDREF>body0_kinematics/body0_kinematics_kmodel0_inst_joint0.axis0</SIDREF>\n\t\t\t\t\t</newparam>\n\t\t\t\t\t<newparam sid="body0_motion_body0_kinematics_kmodel0_inst_joint0.axis0_value">\n\t\t\t\t\t\t<SIDREF>body0_kinematics/body0_kinematics_kmodel0_inst_joint0.axis0_value</SIDREF>\n\t\t\t\t\t</newparam>\n\t\t\t\t\t<newparam 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target="visual0/node_joint51_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint51.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint51.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint52_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint52.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint52.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint53_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint53.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint53.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint54_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint54.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint54.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint55_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint55.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint55.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint56_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint56.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint56.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint57_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint57.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint57.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint58_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint58.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint58.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint59_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint59.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint59.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint60_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint60.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint60.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint61_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint61.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint61.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint62_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint62.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint62.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint63_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint63.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint63.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint64_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint64.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint64.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint65_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint65.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint65.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint66_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint66.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint66.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint67_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint67.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint67.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint68_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint68.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint68.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint69_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint69.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint69.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint70_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint70.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint70.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint71_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint71.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint71.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint72_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint72.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint72.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint73_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint73.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint73.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint74_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint74.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint74.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint75_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint75.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint75.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint76_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint76.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint76.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint77_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint77.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint77.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint78_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint78.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint78.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint79_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint79.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint79.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint80_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint80.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint80.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint81_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint81.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint81.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint82_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint82.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint83_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint83.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint84_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint84.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint85_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint85.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t\t<bind_joint_axis target="visual0/node_joint86_axis0">\n\t\t\t\t<axis>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0</param>\n\t\t\t\t</axis>\n\t\t\t\t<value>\n\t\t\t\t\t<param>kscene_kmodel0_inst_body0_kinematics_kmodel0_inst_joint86.axis0_value</param>\n\t\t\t\t</value>\n\t\t\t</bind_joint_axis>\n\t\t</instance_kinematics_scene>\n\t</scene>\n\t<extra id="sensors" type="library_sensors">\n\t\t<technique profile="OpenRAVE">\n\t\t\t<sensor id="robot0_sensor0" name="pr2:r_forearm_cam_optical_sensor" type="base_pinhole_camera">\n\t\t\t\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\n\t\t\t\t<focal_length>0.01</focal_length>\n\t\t\t\t<distortion_model>0</distortion_model>\n\t\t\t\t<image_dimensions>640 480</image_dimensions>\n\t\t\t\t<measurement_time>0.039999999100000003</measurement_time>\n\t\t\t\t<gain>1</gain>\n\t\t\t</sensor>\n\t\t\t<sensor id="robot0_sensor1" name="pr2:l_forearm_cam_optical_sensor" type="base_pinhole_camera">\n\t\t\t\t<intrinsic>426.35142 0 313.91464 0 426.35142 238.27394</intrinsic>\n\t\t\t\t<focal_length>0.01</focal_length>\n\t\t\t\t<distortion_model>0</distortion_model>\n\t\t\t\t<image_dimensions>640 480</image_dimensions>\n\t\t\t\t<measurement_time>0.039999999100000003</measurement_time>\n\t\t\t\t<gain>1</gain>\n\t\t\t</sensor>\n\t\t\t<sensor id="robot0_sensor2" name="pr2:tilt_laser" type="base_laser2d"/>\n\t\t\t<sensor id="robot0_sensor3" name="pr2:base_laser" type="base_laser2d"/>\n\t\t</technique>\n\t</extra>\n\t<extra id="actuators" type="library_actuators">\n\t\t<technique profile="OpenRAVE"/>\n\t</extra>\n</COLLADA>\n')<400000) # should be ~331kb
    env2=Environment()
    env2.Load('test_writekinematicsonly.dae')
    

======================================================================
FAIL: test_environment.TestEnvironment.test_dataccess
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 219, in test_dataccess
    assert(env2.Load('bobcat.robot.xml'))
AssertionError: 
    RaveSetDataAccess(0)
>>  assert(RaveGetEnvironment(2).Load('bobcat.robot.xml'))
    assert(RaveGetEnvironment(2).Load('../ikfastrobots/fail1.robot.xml'))
    RaveGetEnvironment(2).Reset()
    

======================================================================
FAIL: test_environment.TestEnvironment.test_load
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 22, in test_load
    self.LoadEnv('../src/models/WAM/wam0.iv')
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 140, in LoadEnv
    assert(self.env.Load(*args,**kwargs))
AssertionError: 
    <test_environment.TestEnvironment object at 0x7f21d5e42150>.<logging.Logger object at 0x7f21fecbff10>.info('%r, %r',('../src/models/WAM/wam0.iv',),{})
>>  assert(<test_environment.TestEnvironment object at 0x7f21d5e42150>.env.Load(*('../src/models/WAM/wam0.iv',),**{}))
    <test_environment.TestEnvironment object at 0x7f21d5e42150>._PreprocessEnv()
    

======================================================================
FAIL: test_environment.TestEnvironment.test_load_cwd
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_environment.py", line 240, in test_load_cwd
    assert(env.Load('testdata/box0.dae'))
AssertionError: 
>>  assert(RaveGetEnvironment(1).Load('testdata/box0.dae'))
    assert(not RaveGetEnvironment(1).Load('box0.dae'))
    <module 'os' from '/usr/lib64/python2.7/os.pyc'>.chdir('testdata')
    

======================================================================
FAIL: test_iksolver.TestIkSolver.test_returnactions
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_iksolver.py", line 163, in test_returnactions
    assert(ikreturn.GetAction()==expectedaction)
AssertionError: 
    assert(None is None)
    387 = int(IkReturnAction.QuitEndEffectorCollision)|int(IkReturnAction.RejectJointLimits)
    <openravepy._openravepy_.openravepy_int.IkReturn object at 0x7f21d5e4c578> = <openravepy._openravepy_.databases.inversekinematics.InverseKinematicsModel object at 0x7f21d5ea1e10>.manip.FindIKSolution(IkParameterization('1728053249 0.2815395311427009 1.387778780781446e-16 0.9595496299847904 1.665334536937735e-16 0.1388233933677881 0.1400000000000002 0.63974869166396 '),IkFilterOptions.CheckEnvCollisions,<openravepy._openravepy_.openravepy_int.IkReturn object at 0x7f21d5e4c578>=True)
>>  assert(<openravepy._openravepy_.openravepy_int.IkReturn object at 0x7f21d5e4c578>.GetAction()==387)
    

======================================================================
FAIL: test_kinematics.TestKinematics.test_bodyvelocities
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 255, in test_bodyvelocities
    assert(linalg.norm(angularaccel-deltaangularvel) <= 0.02*(linalg.norm(angularaccel)+linalg.norm(deltaangularvel)))
AssertionError: 
    array([ 0.00126254, -0.00153343,  0.0011061 ]) = array([[ -1.32818979e-01,   5.70509021e-02,  -1.00998430e-02,
              0.00000000e+00,   0.00000000e+00,   0.00000000e+00],
>>         [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,
              3.17339465e-01,  -1.32112531e-01,   2.59177914e+00],
           [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,
              2.57391081e+00,  -2.57025335e-02,   2.79252710e+00],
           [ -8.83451474e-01,  -1.44394959e+00,   1.78427593e-01,
              2.80486280e+00,  -4.19148887e-01,   5.01479292e+00],
           [ -8.18920404e-01,  -1.70455732e+00,   9.98272851e-02,
              2.46439664e+00,  -8.29523450e-01,   5.43109757e+00],
           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,
              5.53247895e+00,   3.44544860e-01,   7.16344996e+00],
           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,
              1.22537448e+01,  -6.17458436e+00,   8.53819606e+00],
           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,
              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],
           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,
              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],
           [ -4.16827117e+00,  -1.25371772e+00,   3.96012255e-02,
              1.04516395e+01,  -1.10919637e+01,   1.17966082e+01],
           [ -4.43069624e+00,  -8.84898379e-01,   7.29647781e-01,
              1.24420351e+01,  -1.53703067e+01,   1.09659368e+01],
           [ -5.42632100e+00,  -5.72130411e-01,   1.73205434e+00,
              1.26254024e+01,  -1.53342855e+01,   1.10610156e+01],
           [ -4.17774281e+00,  -1.87797474e+00,   1.64333711e-01,
              1.16918983e+01,  -5.35445394e+00,   6.67293157e+00],
           [ -4.49512728e+00,  -2.82053061e+00,   1.04096485e+00,
              6.45978357e+00,   6.86481701e-01,   5.68737509e+00],
           [ -4.54333589e+00,  -1.98147060e+00,   3.19045562e-01,
              4.71574534e+00,   2.70012691e+00,   5.35885626e+00],
           [ -3.60681654e+00,  -1.24481702e+00,  -7.09666129e-01,
              1.24855224e+01,  -1.27170836e+01,   6.04327531e+00],
           [ -3.19158333e+00,  -3.56403785e-01,  -2.31072380e+00,
              1.21451825e+01,  -1.34435274e+01,   6.29580926e+00]])[11][3:6]*0.0001
    array([ 0.00131093, -0.00167954,  0.00106881]) = array([[ 0.08052363,  0.26716059,  0.44996602, -0.13703609, -0.32916605,
            -0.05725103],
           [-0.02535423,  0.30198119,  0.50319354, -0.13700437, -0.32917926,
            -1.02106291],
           [-0.02535423,  0.30198119,  0.50319354,  0.61820801,  0.01941135,
            -1.02104283],
           [ 0.10536084,  0.06136399,  0.57035144,  0.43103587,  0.42481669,
             0.68309636],
           [ 0.13066447,  0.03529583,  0.60708611,  0.25320607,  0.99104163,
             0.52886283],
           [ 0.32078173,  0.03938991,  0.50839086,  1.40842347,  1.97107347,
             2.79481885],
           [ 0.32078173,  0.03938991,  0.50839086, -0.56707306,  1.56774268,
             3.97639738],
           [ 0.41205213,  0.19240588,  0.46107851, -0.98391829,  1.60480291,
             3.29211888],
           [ 0.41205213,  0.19240588,  0.46107851, -0.98391829,  1.60480291,
             3.29211888],
           [ 0.57380159,  0.47394351,  0.37218009, -1.54938814,  1.65507683,
             2.36386342],
           [ 0.49022811,  0.53224729,  0.27658024, -1.45614636,  1.37128817,
             2.29169301],
           [ 0.47175607,  0.70635703,  0.16066044, -1.42506577,  1.27669194,
             2.2676362 ],
           [ 0.52867737,  0.37756697,  0.40567427, -0.41844843,  1.55452899,
             4.22037434],
           [ 0.32757159,  0.36241432,  0.39131603,  1.2031059 ,  1.79081336,
             3.24536133],
           [ 0.56291489,  0.41393941,  0.2756387 ,  1.74362402,  1.86957482,
             2.92035699],
           [ 0.7115906 ,  0.36276896,  0.46755526, -1.80469189,  2.17356612,
             3.82291747],
           [ 1.00418585,  0.33503685,  0.62144867, -2.0782831 ,  2.36315386,
             3.99985034]])[11][3:6]-array([[ 0.08053692,  0.26715489,  0.44996703, -0.13703609, -0.32916605,
            -0.05725103],
           [-0.02533939,  0.30197415,  0.50319851, -0.13703609, -0.32916605,
            -1.02132209],
           [-0.02533939,  0.30197415,  0.50319851,  0.61795063,  0.01941392,
            -1.02132209],
           [ 0.1054492 ,  0.06150837,  0.57033361,  0.4307554 ,  0.42485865,
             0.68259487],
           [ 0.13074637,  0.03546627,  0.60707614,  0.25295966,  0.99112463,
             0.5283197 ],
           [ 0.32095291,  0.03954021,  0.5083625 ,  1.40787026,  1.97103906,
             2.79410249],
           [ 0.32095291,  0.03954021,  0.5083625 , -0.56829848,  1.56836014,
             3.97554369],
           [ 0.4123208 ,  0.19255867,  0.46105731, -0.98492181,  1.605616  ,
             3.29136588],
           [ 0.4123208 ,  0.19255867,  0.46105731, -0.98492181,  1.605616  ,
             3.29136588],
           [ 0.57421847,  0.47406889,  0.37217605, -1.55043354,  1.65618597,
             2.3626839 ],
           [ 0.49067123,  0.53233578,  0.2765072 , -1.45739091,  1.37282511,
             2.29059652],
           [ 0.47229875,  0.70641424,  0.16048713, -1.4263767 ,  1.27837148,
             2.26656739],
           [ 0.52909518,  0.37775477,  0.40565776, -0.41941007,  1.55504603,
             4.22004787],
           [ 0.32800413,  0.36269391,  0.39122208,  1.20266757,  1.7907264 ,
             3.2451333 ],
           [ 0.56336969,  0.41413761,  0.27560646,  1.74336012,  1.86928653,
             2.92016178],
           [ 0.71195135,  0.36289343,  0.46762615, -1.80594057,  2.17483785,
             3.82231327],
           [ 1.00450513,  0.3350725 ,  0.62167966, -2.07961349,  2.36457847,
             3.99929574]])[11][3:6]
    assert(<module 'numpy.linalg' from '/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc'>.norm(array([ 0.00126254, -0.00153343,  0.0011061 ])-array([ 0.00131093, -0.00167954,  0.00106881])) <= 0.02*(<module 'numpy.linalg' from '/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc'>.norm(array([ 0.00126254, -0.00153343,  0.0011061 ]))+<module 'numpy.linalg' from '/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc'>.norm(array([ 0.00131093, -0.00167954,  0.00106881]))))
    assert(dot(array([ 0.00131093, -0.00167954,  0.00106881]),array([ 0.00126254, -0.00153343,  0.0011061 ])) >= 0.9*<module 'numpy.linalg' from '/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc'>.norm(array([ 0.00131093, -0.00167954,  0.00106881]))*<module 'numpy.linalg' from '/usr/lib64/python2.7/site-packages/numpy/linalg/__init__.pyc'>.norm(array([ 0.00126254, -0.00153343,  0.0011061 ])))
    array([ -4.43069624e-04,  -8.84898379e-05,   7.29647781e-05]) = 0.0001*array([[ -1.32818979e-01,   5.70509021e-02,  -1.00998430e-02,
              0.00000000e+00,   0.00000000e+00,   0.00000000e+00],
           [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,
              3.17339465e-01,  -1.32112531e-01,   2.59177914e+00],
           [ -1.48347536e-01,   7.04070642e-02,  -4.97222255e-02,
              2.57391081e+00,  -2.57025335e-02,   2.79252710e+00],
           [ -8.83451474e-01,  -1.44394959e+00,   1.78427593e-01,
              2.80486280e+00,  -4.19148887e-01,   5.01479292e+00],
           [ -8.18920404e-01,  -1.70455732e+00,   9.98272851e-02,
              2.46439664e+00,  -8.29523450e-01,   5.43109757e+00],
           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,
              5.53247895e+00,   3.44544860e-01,   7.16344996e+00],
           [ -1.71162206e+00,  -1.50329401e+00,   2.83615507e-01,
              1.22537448e+01,  -6.17458436e+00,   8.53819606e+00],
           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,
              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],
           [ -2.68642797e+00,  -1.52806717e+00,   2.11675689e-01,
              1.00343474e+01,  -8.13043910e+00,   7.53111879e+00],
           [ -4.16827117e+00,  -1.25371772e+00,   3.96012255e-02,
              1.04516395e+01,  -1.10919637e+01,   1.17966082e+01],
           [ -4.43069624e+00,  -8.84898379e-01,   7.29647781e-01,
              1.24420351e+01,  -1.53703067e+01,   1.09659368e+01],
           [ -5.42632100e+00,  -5.72130411e-01,   1.73205434e+00,
              1.26254024e+01,  -1.53342855e+01,   1.10610156e+01],
           [ -4.17774281e+00,  -1.87797474e+00,   1.64333711e-01,
              1.16918983e+01,  -5.35445394e+00,   6.67293157e+00],
           [ -4.49512728e+00,  -2.82053061e+00,   1.04096485e+00,
              6.45978357e+00,   6.86481701e-01,   5.68737509e+00],
           [ -4.54333589e+00,  -1.98147060e+00,   3.19045562e-01,
              4.71574534e+00,   2.70012691e+00,   5.35885626e+00],
           [ -3.60681654e+00,  -1.24481702e+00,  -7.09666129e-01,
              1.24855224e+01,  -1.27170836e+01,   6.04327531e+00],
           [ -3.19158333e+00,  -3.56403785e-01,  -2.31072380e+00,
              1.21451825e+01,  -1.34435274e+01,   6.29580926e+00]])[11][0:3]
    

======================================================================
FAIL: test_kinematics.TestKinematics.test_closedlinkage
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 1003, in test_closedlinkage
    self.LoadEnv('testdata/bobcat.robot.xml')
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 140, in LoadEnv
    assert(self.env.Load(*args,**kwargs))
AssertionError: 
    <test_kinematics.TestKinematics object at 0x7f21d5ea1a90>.<logging.Logger object at 0x7f21fecbff10>.info('%r, %r',('testdata/bobcat.robot.xml',),{})
>>  assert(<test_kinematics.TestKinematics object at 0x7f21d5ea1a90>.env.Load(*('testdata/bobcat.robot.xml',),**{}))
    <test_kinematics.TestKinematics object at 0x7f21d5ea1a90>._PreprocessEnv()
    

======================================================================
FAIL: test_kinematics.TestKinematics.test_inversedynamics
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 440, in test_inversedynamics
    assert(transdist(M,transpose(M)) <= 1e-14*M.shape[0]**2)
AssertionError: 
    array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,
>>            9.26447648e-07],
           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,
             -6.64269884e-07],
           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,
              0.00000000e+00],
           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,
              1.53484605e-03]]) = array(array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,
              9.26447648e-07],
           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,
             -6.64269884e-07],
           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,
              0.00000000e+00],
           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,
              1.53484605e-03]]))
    assert(transdist(array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,
              9.26447648e-07],
           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,
             -6.64269884e-07],
           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,
              0.00000000e+00],
           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,
              1.53484605e-03]]),transpose(array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,
              9.26447648e-07],
           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,
             -6.64269884e-07],
           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,
              0.00000000e+00],
           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,
              1.53484605e-03]]))) <= 1e-14*array([[  1.79002908e-03,   0.00000000e+00,   0.00000000e+00,
              9.26447648e-07],
           [  0.00000000e+00,   1.85128044e-03,   0.00000000e+00,
             -6.64269884e-07],
           [  0.00000000e+00,   0.00000000e+00,   1.69300363e-03,
              0.00000000e+00],
           [  9.87165524e-07,   0.00000000e+00,   0.00000000e+00,
              1.53484605e-03]]).shape[0]**2)
    

======================================================================
FAIL: test_kinematics.TestKinematics.test_wrapoffset
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_kinematics.py", line 794, in test_wrapoffset
    assert( transdist(zerovalues,body.GetDOFValues()) <= g_epsilon )
AssertionError: 
>>  assert( transdist(array([ 0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
            0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
            0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.]),RaveGetEnvironment(1).GetRobot('pr2').GetDOFValues()) <= 1e-07 )
    assert( transdist([array([[ 1.,  0.,  0.,  0.],
           [ 0.,  1.,  0.,  0.],
           [ 0.,  0.,  1.,  0.],
           [ 0.,  0.,  0.,  1.]]), array([[ 1.   ,  0.   ,  0.   ,  0.   ],
           [ 0.   ,  1.   ,  0.   ,  0.   ],
           [ 0.   ,  0.   ,  1.   ,  0.051],
           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],
           [ 0.    ,  1.    ,  0.    ,  0.2246],
           [ 0.    ,  0.    ,  1.    ,  0.0792],
           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],
           [ 0.    ,  1.    ,  0.    ,  0.2736],
           [ 0.    ,  0.    ,  1.    ,  0.0792],
           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],
           [ 0.    ,  1.    ,  0.    ,  0.1756],
           [ 0.    ,  0.    ,  1.    ,  0.0792],
           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],
           [ 0.    ,  1.    ,  0.    , -0.2246],
           [ 0.    ,  0.    ,  1.    ,  0.0792],
           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],
           [ 0.    ,  1.    ,  0.    , -0.1756],
           [ 0.    ,  0.    ,  1.    ,  0.0792],
           [ 0.    ,  0.    ,  0.    ,  1.    ]]), array([[ 1.    ,  0.    ,  0.    , -0.2246],
           [ 0.    ,  1.    ,  0.    , -0.2736],
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             -1.88000000e-01],
           [  6.54007244e-01,   7.56488285e-01,  -3.39703086e-07,
              8.65855082e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  6.54007244e-01,  -1.56385291e-07,   7.56488285e-01,
              5.76908814e-01],
           [  3.59258518e-07,   1.00000000e+00,  -1.03864639e-07,
             -1.88000000e-01],
           [ -7.56488285e-01,   3.39703086e-07,   6.54007244e-01,
              8.65855082e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.88771070e-01,   1.38387748e-17,  -1.49438186e-01,
              4.50000000e-01],
           [ -1.38387748e-17,   1.00000000e+00,   1.03985895e-18,
             -1.88000000e-01],
           [  1.49438186e-01,   1.03985895e-18,   9.88771070e-01,
              8.02175000e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              7.67395513e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.50144658e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              7.67395513e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.50144658e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              7.67395513e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.50144658e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              8.41914566e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.78000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.69172503e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              9.30444092e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.73050000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.91777810e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              9.30444092e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.91777810e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              9.30444092e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.91777810e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              8.11064061e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.86477948e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              7.67395513e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.50144658e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              8.41914566e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.98000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.69172503e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              9.30444092e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -2.02950000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.91777810e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              9.30444092e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -2.02950000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.91777810e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.68912400e-01,   2.06393527e-17,  -2.47404046e-01,
              9.41799745e-01],
           [ -2.05960479e-17,   1.00000000e+00,   2.76303692e-18,
             -1.88000000e-01],
           [  2.47404046e-01,   2.41840484e-18,   9.68912400e-01,
              8.94677386e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ -1.00000000e+00,   0.00000000e+00,  -1.22464680e-16,
             -7.97700000e-02],
           [  0.00000000e+00,   1.00000000e+00,   0.00000000e+00,
             -1.49700000e-01],
           [  1.22464680e-16,   0.00000000e+00,  -1.00000000e+00,
              9.66175000e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 1.      ,  0.      ,  0.      ,  0.0035  ],
           [ 0.      ,  1.      ,  0.      ,  0.209285],
           [ 0.      ,  0.      ,  1.      ,  0.9788  ],
           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.      ,  0.      ,  0.      ,  0.0035  ],
           [ 0.      ,  1.      ,  0.      , -0.209285],
           [ 0.      ,  0.      ,  1.      ,  0.9788  ],
           [ 0.      ,  0.      ,  0.      ,  1.      ]]), array([[ 1.   ,  0.   ,  0.   , -0.15 ],
           [ 0.   ,  1.   ,  0.   ,  0.   ],
           [ 0.   ,  0.   ,  1.   ,  0.751],
           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.   ,  0.   ,  0.   , -0.29 ],
           [ 0.   ,  1.   ,  0.   ,  0.   ],
           [ 0.   ,  0.   ,  1.   ,  0.851],
           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.   ,  0.   ,  0.   ,  0.275],
           [ 0.   ,  1.   ,  0.   ,  0.   ],
           [ 0.   ,  0.   ,  1.   ,  0.303],
           [ 0.   ,  0.   ,  0.   ,  1.   ]])],RaveGetEnvironment(1).GetRobot('pr2').GetLinkTransformations()) <= 1e-07 )
    RaveGetEnvironment(1).GetRobot('pr2').SetDOFValues(array([ 2.29565867,  0.38989695, -1.85568237, -0.84374432,  0.21182581,
            0.80370847,  2.43881754, -1.19263516,  2.87390226, -2.38469345,
           -1.73572749, -1.84240869,  0.04160569,  2.40398655,  0.70676424,
            1.66396831,  0.01091818, -0.223862  , -0.9843625 ,  2.86212397,
           -0.51233371,  1.63355218,  0.31813436,  0.05343098,  2.69980219,
            0.02557046, -0.36487295, -0.93997303, -0.1906131 , -1.04019243,
           -0.46183237,  2.96739912, -0.88014842,  2.85971246,  0.53722787,
           -0.03459789, -0.50614271,  0.04488683,  1.22334835]))
    

======================================================================
FAIL: test_physics.test_ode.test_kinematics
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_physics.py", line 132, in test_kinematics
    assert(errordist <= 35*g_epsilon*numlinks)
AssertionError: 
    [array([[ 1.,  0.,  0.,  0.],
           [ 0.,  1.,  0.,  0.],
           [ 0.,  0.,  1.,  0.],
>>         [ 0.,  0.,  0.,  1.]]), array([[ 1.   ,  0.   ,  0.   ,  0.   ],
           [ 0.   ,  1.   ,  0.   ,  0.   ],
           [ 0.   ,  0.   ,  1.   ,  0.051],
           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[  1.00000000e+00,  -9.61302547e-07,   0.00000000e+00,
             -2.24600000e-01],
           [  9.61302547e-07,   1.00000000e+00,   0.00000000e+00,
              2.24600000e-01],
           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -9.61302547e-07,   9.83285921e-05,
             -2.24600047e-01],
           [  9.61302542e-07,   1.00000000e+00,   9.45235261e-11,
              2.73600000e-01],
           [ -9.83285921e-05,   1.00166402e-24,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -9.61302547e-07,   9.82724647e-05,
             -2.24599953e-01],
           [  9.61302542e-07,   1.00000000e+00,   9.44695706e-11,
              1.75600000e-01],
           [ -9.82724647e-05,   9.95201674e-25,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  1.00000000e+00,  -9.72558357e-07,   0.00000000e+00,
             -2.24600000e-01],
           [  9.72558357e-07,   1.00000000e+00,   0.00000000e+00,
             -2.24600000e-01],
           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -9.72558357e-07,   9.96333329e-05,
             -2.24600048e-01],
           [  9.72558353e-07,   1.00000000e+00,   9.68992306e-11,
             -1.75600000e-01],
           [ -9.96333329e-05,   1.00812637e-24,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -9.72558357e-07,   1.01713684e-04,
             -2.24599952e-01],
           [  9.72558352e-07,   1.00000000e+00,   9.89224938e-11,
             -2.73600000e-01],
           [ -1.01713684e-04,   3.42504472e-25,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  1.00000000e+00,  -2.65870784e-07,   0.00000000e+00,
              2.24600000e-01],
           [  2.65870784e-07,   1.00000000e+00,   0.00000000e+00,
              2.24600000e-01],
           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -2.65870784e-07,   1.00946707e-04,
              2.24599987e-01],
           [  2.65870783e-07,   1.00000000e+00,   2.68387803e-11,
              2.73600000e-01],
           [ -1.00946707e-04,   1.02589783e-24,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -2.65870784e-07,   9.99364054e-05,
              2.24600013e-01],
           [  2.65870783e-07,   1.00000000e+00,   2.65701705e-11,
              1.75600000e-01],
           [ -9.99364054e-05,   1.01620431e-24,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  1.00000000e+00,  -2.13581582e-06,   0.00000000e+00,
              2.24600000e-01],
           [  2.13581582e-06,   1.00000000e+00,   0.00000000e+00,
             -2.24600000e-01],
           [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -2.13581582e-06,   1.01845098e-04,
              2.24599895e-01],
           [  2.13581581e-06,   1.00000000e+00,   2.17522371e-10,
             -1.75600000e-01],
           [ -1.01845098e-04,   1.03397577e-24,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99999995e-01,  -2.13581582e-06,   1.01360410e-04,
              2.24600105e-01],
           [  2.13581581e-06,   1.00000000e+00,   2.16487166e-10,
             -2.73600000e-01],
           [ -1.01360410e-04,   6.85008945e-25,   9.99999995e-01,
              7.92000000e-02],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 1.        ,  0.        ,  0.        , -0.05      ],
           [ 0.        ,  1.        ,  0.        ,  0.        ],
           [ 0.        ,  0.        ,  1.        ,  0.81239062],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  9.99970779e-01,   7.64468816e-03,   0.00000000e+00,
             -6.70700000e-02],
           [ -7.64468816e-03,   9.99970779e-01,  -0.00000000e+00,
              2.65228400e-20],
           [ -0.00000000e+00,   0.00000000e+00,   1.00000000e+00,
              1.19384062e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              9.28012968e-04],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
             -5.19838795e-04],
           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.19384062e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              6.93000923e-02],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
             -1.04253729e-03],
           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.18899546e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              1.03821659e-01],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
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           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.19848400e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.62522748e-01,   7.64468816e-03,  -2.71093191e-01,
              1.03821659e-01],
           [ -7.35840128e-03,   9.99970779e-01,   2.07248347e-03,
              1.07696734e-01],
           [  2.71101113e-01,   2.23996169e-16,   9.62550875e-01,
              1.19848400e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              6.93000923e-02],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
             -1.04253729e-03],
           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.18899546e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              7.21876605e-02],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
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           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.18980876e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              1.02003286e-01],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
              5.87092030e-02],
           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.19807735e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              1.02003286e-01],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
              5.87092030e-02],
           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.19807735e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,
              1.02003286e-01],
           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,
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           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,
              1.19807735e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
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              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,
              1.01773945e-01],
           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,
              2.87100796e-02],
           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,
              1.19807735e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              1.01085923e-01],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
             -6.12872905e-02],
           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.19807735e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,
              1.01085923e-01],
           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,
             -6.12872905e-02],
           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,
              1.19807735e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,
              1.01773945e-01],
           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,
              2.87100796e-02],
           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,
              1.19807735e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  2.71093191e-01,   7.64468816e-03,   9.62522748e-01,
              1.02155117e-01],
           [ -2.07248347e-03,   9.99970779e-01,  -7.35840128e-03,
             -1.10296896e-01],
           [ -9.62550875e-01,   2.23345648e-16,   2.71101113e-01,
              1.19848400e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ -7.64468816e-03,  -9.62522748e-01,   2.71093191e-01,
              1.02155117e-01],
           [ -9.99970779e-01,   7.35840128e-03,  -2.07248347e-03,
             -1.10296896e-01],
           [ -4.71844785e-16,  -2.71101113e-01,  -9.62550875e-01,
              1.19848400e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 0.99595782,  0.08982216,  0.        , -0.05      ],
           [-0.08982216,  0.99595782, -0.        ,  0.188     ],
           [-0.        ,  0.        ,  1.        ,  0.81239062],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  2.69966790e-01,   8.98221622e-02,   9.58670909e-01,
              4.95957820e-02],
           [ -2.43474175e-02,   9.95957820e-01,  -8.64593782e-02,
              1.79017784e-01],
           [ -9.62561757e-01,   7.63278329e-17,   2.71062474e-01,
              8.12390620e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 0.26996679, -0.50866925,  0.81754115,  0.04959578],
           [-0.02434742,  0.84518952,  0.53391186,  0.17901778],
           [-0.96256176, -0.16404349,  0.21578832,  0.81239062],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.26996679, -0.50866925,  0.81754115,  0.04959578],
           [-0.02434742,  0.84518952,  0.53391186,  0.17901778],
           [-0.96256176, -0.16404349,  0.21578832,  0.81239062],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.49818468, -0.50866925,  0.70218773,  0.1575825 ],
           [ 0.13354529,  0.84518952,  0.5175136 ,  0.16927882],
           [-0.85672497, -0.16404349,  0.48899086,  0.42736592],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.49818468,  0.86549077, -0.05232342,  0.1575825 ],
           [ 0.13354529, -0.13621499, -0.98163697,  0.16927882],
           [-0.85672497,  0.48204895, -0.18344244,  0.42736592],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.39340795,  0.31008996,  0.86549084,  0.2225352 ],
           [-0.41087352,  0.90145911, -0.13621463,  0.1441154 ],
           [-0.8224434 , -0.30201935,  0.48204893,  0.30363658],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[-0.31008996, -0.86549084,  0.39340795,  0.2225352 ],
           [-0.90145911,  0.13621463, -0.41087352,  0.1441154 ],
           [ 0.30201935, -0.48204893, -0.8224434 ,  0.30363658],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.49818468,  0.86549077, -0.05232342,  0.1575825 ],
           [ 0.13354529, -0.13621499, -0.98163697,  0.16927882],
           [-0.85672497,  0.48204895, -0.18344244,  0.42736592],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  4.76156541e-01,   8.65490774e-01,  -1.55565641e-01,
              3.17499782e-01],
           [ -7.51410276e-02,  -1.36214995e-01,  -9.87825542e-01,
              2.12146854e-01],
           [ -8.76144266e-01,   4.82048955e-01,   1.74205420e-04,
              1.52357201e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.31749978],
           [-0.07514103,  0.88936229,  0.45098619,  0.21214685],
           [-0.87614427, -0.27484245,  0.39602128,  0.1523572 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.31749978],
           [-0.07514103,  0.88936229,  0.45098619,  0.21214685],
           [-0.87614427, -0.27484245,  0.39602128,  0.1523572 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.35046727],
           [-0.07514103,  0.88936229,  0.45098619,  0.21526138],
           [-0.87614427, -0.27484245,  0.39602128,  0.08222452],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  4.76156541e-01,  -3.65371520e-01,   7.99861614e-01,
              3.92165100e-01],
           [ -7.51410276e-02,   8.89362289e-01,   4.50986192e-01,
              2.12798088e-01],
           [ -8.76144266e-01,  -2.74842449e-01,   3.96021279e-01,
              8.10749689e-04],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.44524306],
           [-0.07514103,  0.88936229,  0.45098619,  0.19198802],
           [-0.87614427, -0.27484245,  0.39602128, -0.08269478],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.88391203, -0.36537152, -0.29189583,  0.44524306],
           [ 0.42406111,  0.88936229,  0.17090024,  0.19198802],
           [ 0.19715907, -0.27484245,  0.94105788, -0.08269478],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.36144324],
           [-0.07514103,  0.88936229,  0.45098619,  0.21929618],
           [-0.87614427, -0.27484245,  0.39602128,  0.11707392],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.31749978],
           [-0.07514103,  0.88936229,  0.45098619,  0.21214685],
           [-0.87614427, -0.27484245,  0.39602128,  0.1523572 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.3577747 ],
           [-0.07514103,  0.88936229,  0.45098619,  0.19747414],
           [-0.87614427, -0.27484245,  0.39602128,  0.08772137],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.40308971],
           [-0.07514103,  0.88936229,  0.45098619,  0.18620616],
           [-0.87614427, -0.27484245,  0.39602128,  0.00902854],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.40673736],
           [-0.07514103,  0.88936229,  0.45098619,  0.1773273 ],
           [-0.87614427, -0.27484245,  0.39602128,  0.0117724 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.47615654, -0.36537152,  0.79986161,  0.40320796],
           [-0.07514103,  0.88936229,  0.45098619,  0.19862147],
           [-0.87614427, -0.27484245,  0.39602128, -0.00534877],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  9.99929599e-01,   1.73469294e-18,  -1.18658032e-02,
              4.89300000e-02],
           [ -1.73469294e-18,   1.00000000e+00,   1.02921248e-20,
              1.66167881e-33],
           [  1.18658032e-02,   1.02921248e-20,   9.99929599e-01,
              1.03939062e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[  9.99929599e-01,   1.73469294e-18,  -1.18658032e-02,
              4.85740259e-02],
           [ -1.73469294e-18,   1.00000000e+00,   1.02921248e-20,
              3.08763745e-22],
           [  1.18658032e-02,   1.02921248e-20,   9.99929599e-01,
              1.06938851e+00],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 0.99213728, -0.12515441,  0.        , -0.05      ],
           [ 0.12515441,  0.99213728,  0.        , -0.188     ],
           [ 0.        ,  0.        ,  1.        ,  0.81239062],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  2.68931184e-01,  -1.25154407e-01,   9.54993399e-01,
              4.92137276e-02],
           [  3.39246631e-02,   9.92137276e-01,   1.20468846e-01,
             -1.75484559e-01],
           [ -9.62561757e-01,   6.24500451e-17,   2.71062474e-01,
              8.12390620e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 0.26893118,  0.47831626,  0.83599616,  0.04921373],
           [ 0.03392466,  0.86273014, -0.50452535, -0.17548456],
           [-0.96256176,  0.16404349,  0.21578832,  0.81239062],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.26893118,  0.47831626,  0.83599616,  0.04921373],
           [ 0.03392466,  0.86273014, -0.50452535, -0.17548456],
           [-0.96256176,  0.16404349,  0.21578832,  0.81239062],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.50222046,  0.47831626,  0.72040833,  0.1567862 ],
           [-0.11548931,  0.86273014, -0.49229963, -0.16191469],
           [-0.8569929 ,  0.16404349,  0.48852114,  0.42736592],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.50222046,  0.74418222,  0.44041733,  0.1567862 ],
           [-0.11548931,  0.56246615, -0.81871487, -0.16191469],
           [-0.8569929 ,  0.36031187,  0.3684271 ,  0.42736592],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.65975491,  0.10448025, -0.74418233,  0.24396433],
           [-0.53455124, -0.63078294, -0.56246587, -0.21352921],
           [-0.5281841 ,  0.7688932 , -0.36031209,  0.32788267],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[-0.10448025,  0.74418233,  0.65975491,  0.24396433],
           [ 0.63078294,  0.56246587, -0.53455124, -0.21352921],
           [-0.7688932 ,  0.36031209, -0.5281841 ,  0.32788267],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.50222046,  0.74418222,  0.44041733,  0.1567862 ],
           [-0.11548931,  0.56246615, -0.81871487, -0.16191469],
           [-0.8569929 ,  0.36031187,  0.3684271 ,  0.42736592],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.74418222,  0.33420957,  0.31799897],
           [-0.27267904,  0.56246615, -0.7805626 , -0.19898676],
           [-0.76886238,  0.36031187,  0.52822911,  0.1522712 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.31799897],
           [-0.27267904,  0.71245659, -0.64656922, -0.19898676],
           [-0.76886238,  0.24261906,  0.59159668,  0.1522712 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.31799897],
           [-0.27267904,  0.71245659, -0.64656922, -0.19898676],
           [-0.76886238,  0.24261906,  0.59159668,  0.1522712 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.36906479],
           [-0.27267904,  0.71245659, -0.64656922, -0.21283394],
           [-0.76886238,  0.24261906,  0.59159668,  0.09556418],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.42516854],
           [-0.27267904,  0.71245659, -0.64656922, -0.23422197],
           [-0.76886238,  0.24261906,  0.59159668,  0.02651419],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.47316058],
           [-0.27267904,  0.71245659, -0.64656922, -0.2721411 ],
           [-0.76886238,  0.24261906,  0.59159668, -0.0539992 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.6889281 ,  0.65843876, -0.30304531,  0.47316058],
           [-0.70032851,  0.71245659, -0.04410879, -0.2721411 ],
           [ 0.18686369,  0.24261906,  0.95195481, -0.0539992 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.35942031],
           [-0.27267904,  0.71245659, -0.64656922, -0.22875149],
           [-0.76886238,  0.24261906,  0.59159668,  0.12726352],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.31799897],
           [-0.27267904,  0.71245659, -0.64656922, -0.19898676],
           [-0.76886238,  0.24261906,  0.59159668,  0.1522712 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.35589602],
           [-0.27267904,  0.71245659, -0.64656922, -0.22708307],
           [-0.76886238,  0.24261906,  0.59159668,  0.0907118 ],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.40548122],
           [-0.27267904,  0.71245659, -0.64656922, -0.25552442],
           [-0.76886238,  0.24261906,  0.59159668,  0.01925988],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.39919639],
           [-0.27267904,  0.71245659, -0.64656922, -0.26232485],
           [-0.76886238,  0.24261906,  0.59159668,  0.01694407],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 0.57835696,  0.65843876,  0.48162394,  0.42210322],
           [-0.27267904,  0.71245659, -0.64656922, -0.24806899],
           [-0.76886238,  0.24261906,  0.59159668,  0.01387597],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ -1.00000000e+00,   0.00000000e+00,  -1.22464680e-16,
             -7.97700000e-02],
           [  0.00000000e+00,   1.00000000e+00,   0.00000000e+00,
             -1.49700000e-01],
           [  1.22464680e-16,   0.00000000e+00,  -1.00000000e+00,
              9.76390620e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 1.        ,  0.        ,  0.        ,  0.0035    ],
           [ 0.        ,  1.        ,  0.        ,  0.209285  ],
           [ 0.        ,  0.        ,  1.        ,  0.98901562],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[ 1.        ,  0.        ,  0.        ,  0.0035    ],
           [ 0.        ,  1.        ,  0.        , -0.209285  ],
           [ 0.        ,  0.        ,  1.        ,  0.98901562],
           [ 0.        ,  0.        ,  0.        ,  1.        ]]), array([[  1.00000000e+00,   3.37925264e-07,   0.00000000e+00,
             -1.50000000e-01],
           [ -3.37925264e-07,   1.00000000e+00,  -0.00000000e+00,
              0.00000000e+00],
           [ -0.00000000e+00,   0.00000000e+00,   1.00000000e+00,
              7.51000000e-01],
           [  0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
              1.00000000e+00]]), array([[ 1.   ,  0.   ,  0.   , -0.29 ],
           [ 0.   ,  1.   ,  0.   ,  0.   ],
           [ 0.   ,  0.   ,  1.   ,  0.851],
           [ 0.   ,  0.   ,  0.   ,  1.   ]]), array([[ 1.   ,  0.   ,  0.   ,  0.275],
           [ 0.   ,  1.   ,  0.   ,  0.   ],
           [ 0.   ,  0.   ,  1.   ,  0.303],
           [ 0.   ,  0.   ,  0.   ,  1.   ]])])
    assert(10.205419140588345 <= 35*1e-07*88)
    

======================================================================
FAIL: test_programs.test_cppexamples
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py", line 139, in test_cppexamples
    programdir = CompileProject(os.path.join('..','src','cppexamples'))
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_programs.py", line 98, in CompileProject
    assert(os.system('cmake %s %s'%(cmakeoptions,cmakedir)) == 0)
AssertionError: 
    <module 'os' from '/usr/lib64/python2.7/os.pyc'>.chdir('cppexamples_build')
>>  assert(<module 'os' from '/usr/lib64/python2.7/os.pyc'>.system('cmake %s %s'%('','/home/thofmann/rpmbuild/BUILD/src/cppexamples')) == 0)
    assert(<module 'os' from '/usr/lib64/python2.7/os.pyc'>.system('make ') == 0)
    <module 'os' from '/usr/lib64/python2.7/os.pyc'>.chdir('/home/thofmann/rpmbuild/BUILD/openrave-0.9.0')
    

======================================================================
FAIL: test_robot.test_ode.test_cloneselfcollision
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 633, in test_cloneselfcollision
    assert cloned_robot.CheckSelfCollision() # fails
AssertionError: 
    assert RaveGetEnvironment(1).GetRobot('BarrettWAM').CheckSelfCollision() # succeeds
>>  assert RaveGetEnvironment(1).GetRobot('BarrettWAM0').CheckSelfCollision() # fails
    

======================================================================
FAIL: test_robot.test_ode.test_distancechecking
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_robot.py", line 608, in test_distancechecking
    assert(abs(report.minDistance - 0.22146797060110873) <= 1e-7)
AssertionError: 
    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.collisionchecker,'pqp').CheckCollision(RaveGetEnvironment(1).GetRobot('BarrettWAM'),<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>=<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>)
    assert(abs(<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>.minDistance - 0.02014762095143412) <= 1e-7)
    RaveGetEnvironment(1).GetRobot('BarrettWAM').CheckSelfCollision(<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>=<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>,collisionchecker=RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.collisionchecker,'pqp'))
>>  assert(abs(<openravepy._openravepy_.openravepy_int.CollisionReport object at 0x7f21d5e5e0a8>.minDistance - 0.22146797060110873) <= 1e-7)
    

======================================================================
FAIL: test_sampling.TestSampling.test_default
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py", line 47, in test_default
    self._runsampler(type)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_sampling.py", line 33, in _runsampler
    assert(len(closedvalues) == N and all(closedvalues>=lowerN) and all(closedvalues<=upperN))
AssertionError: 
    array([[ 0.,  0.,  0.,  0.,  0.]]) = tile(array([ 0.,  0.,  0.,  0.,  0.]),(1,1))
    array([[ 1.,  1.,  1.,  1.,  1.]]) = tile(array([ 1.,  1.,  1.,  1.,  1.]),(1,1))
    array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788]) = RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.spacesampler,'MT19937').SampleSequence(openravepy._openravepy_.openravepy_int.SampleDataType.Real,1,Interval.Closed)
>>  assert(len(array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788])) == 1 and all(array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788])>=array([[ 0.,  0.,  0.,  0.,  0.]])) and all(array([ 0.24260339,  0.31156365,  0.12959698,  0.65258555,  0.22506788])<=array([[ 1.,  1.,  1.,  1.,  1.]])))
    

======================================================================
FAIL: test_trajectory.TestTrajectory.test_computederiv
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 797, in test_computederiv
    assert(transdist(expectedaccel,acceldata) <= g_epsilon)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/common_test_openrave.py", line 73, in transdist
    assert(len(list0)==len(list1))
AssertionError: 
>>  assert(len(array([  0.00000000e+00,   7.50000000e+00,   1.00000000e+01,
             1.00000000e+01,   1.00000000e+01,   0.00000000e+00,
             3.50596745e-16,   4.67462326e-16,   4.67462326e-16,
             4.67462326e-16,   0.00000000e+00,  -7.50000000e+00,
            -1.00000000e+01,  -1.00000000e+01,  -1.00000000e+01,
             0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
             0.00000000e+00,   0.00000000e+00]))==len(array([ 0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
            0.        ,  0.        ,  0.        ,  0.        ,  0.        ])))
    return sum([sum(abs(item0-item1)) for item0, item1 in izip(array([  0.00000000e+00,   7.50000000e+00,   1.00000000e+01,
             1.00000000e+01,   1.00000000e+01,   0.00000000e+00,
             3.50596745e-16,   4.67462326e-16,   4.67462326e-16,
             4.67462326e-16,   0.00000000e+00,  -7.50000000e+00,
            -1.00000000e+01,  -1.00000000e+01,  -1.00000000e+01,
             0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
             0.00000000e+00,   0.00000000e+00]),array([ 0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        ,  1.36054422,  1.81405896,  1.81405896,  1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        , -1.36054422, -1.81405896, -1.81405896, -1.81405896,
            0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
            0.        ,  0.        ,  0.        ,  0.        ,  0.        ]))])
    

======================================================================
FAIL: test_trajectory.TestTrajectory.test_ikparamretiming
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 465, in test_ikparamretiming
    assert(all(residuals < 5e-5)) # make sure it matches the degree
AssertionError: 
    array([[ 0.79999957,  0.69923824],
           [-0.08648613, -0.21754692]]), array([  1.81305028e-09,   5.80200279e-01]), 2, array([ 1.38072121,  0.30595579]), 7.9047879353311146e-14 = polyfit(array([ 0.   ,  0.005,  0.01 ,  0.015,  0.02 ,  0.025,  0.03 ,  0.035,
            0.04 ,  0.045,  0.05 ,  0.055,  0.06 ,  0.065,  0.07 ,  0.075,
>>          0.08 ,  0.085,  0.09 ,  0.095,  0.1  ,  0.105,  0.11 ,  0.115,
            0.12 ,  0.125,  0.13 ,  0.135,  0.14 ,  0.145,  0.15 ,  0.155,
            0.16 ,  0.165,  0.17 ,  0.175,  0.18 ,  0.185,  0.19 ,  0.195,
            0.2  ,  0.205,  0.21 ,  0.215,  0.22 ,  0.225,  0.23 ,  0.235,
            0.24 ,  0.245,  0.25 ,  0.255,  0.26 ,  0.265,  0.27 ,  0.275,
            0.28 ,  0.285,  0.29 ,  0.295,  0.3  ,  0.305,  0.31 ,  0.315,
            0.32 ,  0.325,  0.33 ,  0.335,  0.34 ,  0.345,  0.35 ,  0.355,
            0.36 ,  0.365,  0.37 ,  0.375,  0.38 ,  0.385,  0.39 ,  0.395,
            0.4  ,  0.405,  0.41 ,  0.415,  0.42 ,  0.425,  0.43 ,  0.435,
            0.44 ,  0.445,  0.45 ,  0.455,  0.46 ,  0.465,  0.47 ,  0.475,
            0.48 ,  0.485,  0.49 ,  0.495,  0.5  ,  0.505,  0.51 ,  0.515,
            0.52 ,  0.525,  0.53 ,  0.535,  0.54 ,  0.545,  0.55 ,  0.555,
            0.56 ,  0.565,  0.57 ,  0.575,  0.58 ,  0.585,  0.59 ,  0.595,
            0.6  ,  0.605,  0.61 ,  0.615,  0.62 ,  0.625,  0.63 ,  0.635,
            0.64 ,  0.645,  0.65 ,  0.655,  0.66 ,  0.665,  0.67 ,  0.675,
            0.68 ,  0.685,  0.69 ,  0.695,  0.7  ,  0.705,  0.71 ,  0.715,
            0.72 ,  0.725,  0.73 ,  0.735,  0.74 ,  0.745,  0.75 ,  0.755,
            0.76 ,  0.765,  0.77 ,  0.775,  0.78 ,  0.785,  0.79 ,  0.795,
            0.8  ,  0.805,  0.81 ,  0.815,  0.82 ,  0.825,  0.83 ,  0.835,
            0.84 ,  0.845,  0.85 ,  0.855,  0.86 ,  0.865,  0.87 ,  0.875,
            0.88 ,  0.885,  0.89 ,  0.895,  0.9  ,  0.905,  0.91 ,  0.915,
            0.92 ,  0.925,  0.93 ,  0.935,  0.94 ,  0.945,  0.95 ,  0.955,
            0.96 ,  0.965,  0.97 ,  0.975,  0.98 ,  0.985,  0.99 ,  0.995,
            1.   ,  1.005,  1.01 ,  1.015,  1.02 ,  1.025,  1.03 ,  1.035,
            1.04 ,  1.045,  1.05 ,  1.055,  1.06 ,  1.065,  1.07 ,  1.075,
            1.08 ,  1.085,  1.09 ,  1.095,  1.1  ,  1.105,  1.11 ,  1.115,
            1.12 ,  1.125,  1.13 ,  1.135,  1.14 ,  1.145,  1.15 ,  1.155,
            1.16 ,  1.165,  1.17 ,  1.175,  1.18 ,  1.185,  1.19 ,  1.195,
            1.2  ,  1.205,  1.21 ,  1.215,  1.22 ,  1.225,  1.23 ,  1.235,
            1.24 ,  1.245,  1.25 ,  1.255,  1.26 ,  1.265,  1.27 ,  1.275,
            1.28 ,  1.285,  1.29 ,  1.295,  1.3  ,  1.305,  1.31 ,  1.315,
            1.32 ,  1.325,  1.33 ,  1.335,  1.34 ,  1.345,  1.35 ,  1.355,
            1.36 ,  1.365,  1.37 ,  1.375,  1.38 ,  1.385,  1.39 ,  1.395,
            1.4  ,  1.405,  1.41 ,  1.415,  1.42 ,  1.425,  1.43 ,  1.435,
            1.44 ,  1.445,  1.45 ,  1.455,  1.46 ,  1.465,  1.47 ,  1.475,
            1.48 ,  1.485,  1.49 ,  1.495,  1.5  ,  1.505,  1.51 ,  1.515,
            1.52 ,  1.525,  1.53 ,  1.535,  1.54 ,  1.545,  1.55 ,  1.555,
            1.56 ,  1.565,  1.57 ,  1.575,  1.58 ,  1.585,  1.59 ,  1.595,
            1.6  ,  1.605,  1.61 ,  1.615,  1.62 ,  1.625,  1.63 ,  1.635,
            1.64 ,  1.645,  1.65 ,  1.655,  1.66 ,  1.665,  1.67 ,  1.675,
            1.68 ,  1.685,  1.69 ,  1.695,  1.7  ,  1.705,  1.71 ,  1.715,
            1.72 ,  1.725,  1.73 ,  1.735,  1.74 ,  1.745,  1.75 ,  1.755,
            1.76 ,  1.765,  1.77 ,  1.775,  1.78 ,  1.785,  1.79 ,  1.795,
            1.8  ,  1.805,  1.81 ,  1.815,  1.82 ,  1.825,  1.83 ,  1.835,
            1.84 ,  1.845,  1.85 ,  1.855,  1.86 ,  1.865,  1.87 ,  1.875,
            1.88 ,  1.885,  1.89 ,  1.895,  1.9  ,  1.905,  1.91 ,  1.915,
            1.92 ,  1.925,  1.93 ,  1.935,  1.94 ,  1.945,  1.95 ,  1.955,
            1.96 ,  1.965,  1.97 ,  1.975,  1.98 ,  1.985,  1.99 ,  1.995,
            2.   ,  2.005,  2.01 ,  2.015,  2.02 ,  2.025,  2.03 ,  2.035,
            2.04 ,  2.045,  2.05 ,  2.055,  2.06 ,  2.065,  2.07 ,  2.075,
            2.08 ,  2.085,  2.09 ,  2.095,  2.1  ,  2.105,  2.11 ,  2.115,
            2.12 ,  2.125,  2.13 ,  2.135,  2.14 ,  2.145,  2.15 ,  2.155,
            2.16 ,  2.165,  2.17 ,  2.175,  2.18 ,  2.185,  2.19 ,  2.195,
            2.2  ,  2.205])[:43],<numpy.lib.index_tricks.CClass object at 0x7f21eb3ba3d0>[array([  0.00000000e+00,   4.62500000e-05,   1.85000000e-04,
             4.16250000e-04,   7.40000000e-04,   1.15625000e-03,
             1.66500000e-03,   2.26625000e-03,   2.96000000e-03,
             3.74625000e-03,   4.62500000e-03,   5.59625000e-03,
             6.66000000e-03,   7.81625000e-03,   9.06500000e-03,
             1.04062500e-02,   1.18400000e-02,   1.33662500e-02,
             1.49850000e-02,   1.66962500e-02,   1.85000000e-02,
             2.03962500e-02,   2.23850000e-02,   2.44662500e-02,
             2.66400000e-02,   2.89062500e-02,   3.12650000e-02,
             3.37162500e-02,   3.62600000e-02,   3.88962500e-02,
             4.16250000e-02,   4.44462500e-02,   4.73600000e-02,
             5.03662500e-02,   5.34650000e-02,   5.66562500e-02,
             5.99400000e-02,   6.33162500e-02,   6.67850000e-02,
             7.03462500e-02,   7.40000000e-02,   7.77462500e-02,
             8.15850000e-02,   8.55162500e-02,   8.95135135e-02,
             9.35135135e-02,   9.75135135e-02,   1.01513514e-01,
             1.05513514e-01,   1.09513514e-01,   1.13513514e-01,
             1.17513514e-01,   1.21513514e-01,   1.25513514e-01,
             1.29513514e-01,   1.33513514e-01,   1.37513514e-01,
             1.41513514e-01,   1.45513514e-01,   1.49513514e-01,
             1.53513514e-01,   1.57513514e-01,   1.61513514e-01,
             1.65513514e-01,   1.69513514e-01,   1.73513514e-01,
             1.77513514e-01,   1.81513514e-01,   1.85513514e-01,
             1.89513514e-01,   1.93513514e-01,   1.97513514e-01,
             2.01513514e-01,   2.05513514e-01,   2.09513514e-01,
             2.13513514e-01,   2.17513514e-01,   2.21513514e-01,
             2.25513514e-01,   2.29513514e-01,   2.33513514e-01,
             2.37513514e-01,   2.41513514e-01,   2.45513514e-01,
             2.49513514e-01,   2.53513514e-01,   2.57513514e-01,
             2.61513514e-01,   2.65513514e-01,   2.69513514e-01,
             2.73513514e-01,   2.77513514e-01,   2.81513514e-01,
             2.85513514e-01,   2.89513514e-01,   2.93513514e-01,
             2.97513514e-01,   3.01513514e-01,   3.05513514e-01,
             3.09513514e-01,   3.13513514e-01,   3.17513514e-01,
             3.21513514e-01,   3.25513514e-01,   3.29513514e-01,
             3.33513514e-01,   3.37513514e-01,   3.41513514e-01,
             3.45513514e-01,   3.49513514e-01,   3.53513514e-01,
             3.57513514e-01,   3.61513514e-01,   3.65513514e-01,
             3.69513514e-01,   3.73513514e-01,   3.77513514e-01,
             3.81513514e-01,   3.85513514e-01,   3.89513514e-01,
             3.93513514e-01,   3.97513514e-01,   4.01513514e-01,
             4.05513514e-01,   4.09513514e-01,   4.13513514e-01,
             4.17513514e-01,   4.21513514e-01,   4.25513514e-01,
             4.29513514e-01,   4.33513514e-01,   4.37513514e-01,
             4.41513514e-01,   4.45513514e-01,   4.49513514e-01,
             4.53513514e-01,   4.57513514e-01,   4.61513514e-01,
             4.65513514e-01,   4.69513514e-01,   4.73513514e-01,
             4.77513514e-01,   4.81513514e-01,   4.85513514e-01,
             4.89513514e-01,   4.93513514e-01,   4.97513514e-01,
             5.01513514e-01,   5.05513514e-01,   5.09513514e-01,
             5.13513514e-01,   5.17513514e-01,   5.21513514e-01,
             5.25513514e-01,   5.29513514e-01,   5.33513514e-01,
             5.37513514e-01,   5.41513514e-01,   5.45513514e-01,
             5.49513514e-01,   5.53513514e-01,   5.57513514e-01,
             5.61513514e-01,   5.65513514e-01,   5.69513514e-01,
             5.73513514e-01,   5.77513514e-01,   5.81513514e-01,
             5.85513514e-01,   5.89513514e-01,   5.93513514e-01,
             5.97513514e-01,   6.01513514e-01,   6.05513514e-01,
             6.09513514e-01,   6.13513514e-01,   6.17513514e-01,
             6.21513514e-01,   6.25513514e-01,   6.29513514e-01,
             6.33513514e-01,   6.37513514e-01,   6.41513514e-01,
             6.45513514e-01,   6.49513514e-01,   6.53513514e-01,
             6.57513514e-01,   6.61513514e-01,   6.65513514e-01,
             6.69513514e-01,   6.73513514e-01,   6.77513514e-01,
             6.81513514e-01,   6.85513514e-01,   6.89513514e-01,
             6.93513514e-01,   6.97513514e-01,   7.01513514e-01,
             7.05513514e-01,   7.09513514e-01,   7.13513514e-01,
             7.17513514e-01,   7.21513514e-01,   7.25513514e-01,
             7.29513514e-01,   7.33513514e-01,   7.37513514e-01,
             7.41513514e-01,   7.45513514e-01,   7.49513514e-01,
             7.53513514e-01,   7.57513514e-01,   7.61513514e-01,
             7.65513514e-01,   7.69513514e-01,   7.73513514e-01,
             7.77513514e-01,   7.81513514e-01,   7.85513514e-01,
             7.89513514e-01,   7.93513514e-01,   7.97513514e-01,
             8.01513514e-01,   8.05513514e-01,   8.09513514e-01,
             8.13513514e-01,   8.17513514e-01,   8.21513514e-01,
             8.25513514e-01,   8.29513514e-01,   8.33513514e-01,
             8.37513514e-01,   8.41513514e-01,   8.45513514e-01,
             8.49513514e-01,   8.53513514e-01,   8.57513514e-01,
             8.61513514e-01,   8.65513514e-01,   8.69513514e-01,
             8.73513514e-01,   8.77513514e-01,   8.81513514e-01,
             8.85513514e-01,   8.89513514e-01,   8.93513514e-01,
             8.97513514e-01,   9.01513514e-01,   9.05513514e-01,
             9.09513514e-01,   9.13513514e-01,   9.17513514e-01,
             9.21513514e-01,   9.25513514e-01,   9.29513514e-01,
             9.33513514e-01,   9.37513514e-01,   9.41513514e-01,
             9.45513514e-01,   9.49513514e-01,   9.53513514e-01,
             9.57513514e-01,   9.61513514e-01,   9.65513514e-01,
             9.69513514e-01,   9.73513514e-01,   9.77513514e-01,
             9.81513514e-01,   9.85513514e-01,   9.89513514e-01,
             9.93513514e-01,   9.97513514e-01,   1.00151351e+00,
             1.00551351e+00,   1.00951351e+00,   1.01351351e+00,
             1.01751351e+00,   1.02151351e+00,   1.02551351e+00,
             1.02951351e+00,   1.03351351e+00,   1.03751351e+00,
             1.04151351e+00,   1.04551351e+00,   1.04951351e+00,
             1.05351351e+00,   1.05751351e+00,   1.06151351e+00,
             1.06551351e+00,   1.06951351e+00,   1.07351351e+00,
             1.07751351e+00,   1.08151351e+00,   1.08551351e+00,
             1.08951351e+00,   1.09351351e+00,   1.09751351e+00,
             1.10151351e+00,   1.10551351e+00,   1.10951351e+00,
             1.11351351e+00,   1.11751351e+00,   1.12151351e+00,
             1.12551351e+00,   1.12951351e+00,   1.13351351e+00,
             1.13751351e+00,   1.14151351e+00,   1.14551351e+00,
             1.14951351e+00,   1.15351351e+00,   1.15751351e+00,
             1.16151351e+00,   1.16551351e+00,   1.16951351e+00,
             1.17351351e+00,   1.17751351e+00,   1.18151351e+00,
             1.18551351e+00,   1.18951351e+00,   1.19351351e+00,
             1.19751351e+00,   1.20151351e+00,   1.20551351e+00,
             1.20951351e+00,   1.21351351e+00,   1.21751351e+00,
             1.22151351e+00,   1.22551351e+00,   1.22951351e+00,
             1.23351351e+00,   1.23751351e+00,   1.24151351e+00,
             1.24551351e+00,   1.24951351e+00,   1.25351351e+00,
             1.25751351e+00,   1.26151351e+00,   1.26551351e+00,
             1.26951351e+00,   1.27351351e+00,   1.27751351e+00,
             1.28151351e+00,   1.28551351e+00,   1.28951351e+00,
             1.29351351e+00,   1.29751351e+00,   1.30151351e+00,
             1.30551351e+00,   1.30951351e+00,   1.31351351e+00,
             1.31751351e+00,   1.32151351e+00,   1.32551351e+00,
             1.32951351e+00,   1.33351351e+00,   1.33751351e+00,
             1.34151351e+00,   1.34551351e+00,   1.34951351e+00,
             1.35351351e+00,   1.35751351e+00,   1.36151351e+00,
             1.36551351e+00,   1.36951351e+00,   1.37351351e+00,
             1.37751351e+00,   1.38151351e+00,   1.38551351e+00,
             1.38951351e+00,   1.39351351e+00,   1.39751351e+00,
             1.40151351e+00,   1.40551351e+00,   1.40951351e+00,
             1.41351351e+00,   1.41751351e+00,   1.42151351e+00,
             1.42551351e+00,   1.42951351e+00,   1.43351351e+00,
             1.43751351e+00,   1.44151351e+00,   1.44551351e+00,
             1.44951351e+00,   1.45351351e+00,   1.45751351e+00,
             1.46151351e+00,   1.46551351e+00,   1.46951351e+00,
             1.47351351e+00,   1.47751351e+00,   1.48151351e+00,
             1.48551351e+00,   1.48951351e+00,   1.49351351e+00,
             1.49751351e+00,   1.50151351e+00,   1.50547077e+00,
             1.50933559e+00,   1.51310791e+00,   1.51678773e+00,
             1.52037505e+00,   1.52386987e+00,   1.52727219e+00,
             1.53058201e+00,   1.53379933e+00,   1.53692415e+00,
             1.53995647e+00,   1.54289630e+00,   1.54574362e+00,
             1.54849844e+00,   1.55116076e+00,   1.55373058e+00,
             1.55620790e+00,   1.55859272e+00,   1.56088504e+00,
             1.56308486e+00,   1.56519218e+00,   1.56720700e+00,
             1.56912932e+00,   1.57095915e+00,   1.57269647e+00,
             1.57434129e+00,   1.57589361e+00,   1.57735343e+00,
             1.57872075e+00,   1.57999557e+00,   1.58117789e+00,
             1.58226771e+00,   1.58326503e+00,   1.58416985e+00,
             1.58498218e+00,   1.58570200e+00,   1.58632932e+00,
             1.58686414e+00,   1.58730646e+00,   1.58765628e+00,
             1.58791360e+00,   1.58807842e+00,   1.58815074e+00,
             1.58815442e+00])[:43],array([  0.00000000e+00,   1.13963443e-05,   4.55853773e-05,
             1.02567099e-04,   1.82341509e-04,   2.84908608e-04,
             4.10268395e-04,   5.58420871e-04,   7.29366036e-04,
             9.23103889e-04,   1.13963443e-03,   1.37895766e-03,
             1.64107358e-03,   1.92598219e-03,   2.23368349e-03,
             2.56417747e-03,   2.91746414e-03,   3.29354351e-03,
             3.69241556e-03,   4.11408030e-03,   4.55853773e-03,
             5.02578784e-03,   5.51583065e-03,   6.02866614e-03,
             6.56429432e-03,   7.12271520e-03,   7.70392876e-03,
             8.30793500e-03,   8.93473394e-03,   9.58432557e-03,
             1.02567099e-02,   1.09518869e-02,   1.16698566e-02,
             1.24106190e-02,   1.31741740e-02,   1.39605218e-02,
             1.47696622e-02,   1.56015954e-02,   1.64563212e-02,
             1.73338397e-02,   1.82341509e-02,   1.91572548e-02,
             2.01031514e-02,   2.10718406e-02,   2.20633226e-02,
             2.30775972e-02,   2.41146646e-02,   2.51745246e-02,
             2.62571773e-02,   2.73626227e-02,   2.84908608e-02,
             2.96418916e-02,   3.08157150e-02,   3.20123312e-02,
             3.32317400e-02,   3.44739415e-02,   3.57389358e-02,
             3.70267227e-02,   3.83373023e-02,   3.96706746e-02,
             4.10268395e-02,   4.24057972e-02,   4.38075475e-02,
             4.52320906e-02,   4.66794263e-02,   4.81495547e-02,
             4.96424758e-02,   5.11581896e-02,   5.26966961e-02,
             5.42579953e-02,   5.58420871e-02,   5.74489717e-02,
             5.90786489e-02,   6.07311188e-02,   6.24063815e-02,
             6.41044368e-02,   6.58252848e-02,   6.75689254e-02,
             6.93353588e-02,   7.11245849e-02,   7.29366036e-02,
             7.47714150e-02,   7.66290192e-02,   7.85094160e-02,
             8.04126055e-02,   8.23385877e-02,   8.42873625e-02,
             8.62589301e-02,   8.82532904e-02,   9.02704433e-02,
             9.23103889e-02,   9.43731273e-02,   9.64586583e-02,
             9.85669820e-02,   1.00698098e-01,   1.02852007e-01,
             1.05028709e-01,   1.07228204e-01,   1.09450491e-01,
             1.11695571e-01,   1.13963443e-01,   1.16254108e-01,
             1.18567566e-01,   1.20903817e-01,   1.23262860e-01,
             1.25644696e-01,   1.28049325e-01,   1.30476746e-01,
             1.32926960e-01,   1.35399967e-01,   1.37895766e-01,
             1.40414358e-01,   1.42955743e-01,   1.45519921e-01,
             1.48106891e-01,   1.50716654e-01,   1.53349209e-01,
             1.56004557e-01,   1.58682698e-01,   1.61383632e-01,
             1.64107358e-01,   1.66853877e-01,   1.69623189e-01,
             1.72415293e-01,   1.75230190e-01,   1.78067880e-01,
             1.80928362e-01,   1.83811637e-01,   1.86717705e-01,
             1.89646566e-01,   1.92598219e-01,   1.95572665e-01,
             1.98569903e-01,   2.01589935e-01,   2.04632759e-01,
             2.07698375e-01,   2.10786784e-01,   2.13897986e-01,
             2.17031981e-01,   2.20188768e-01,   2.23368349e-01,
             2.26570721e-01,   2.29795887e-01,   2.33043845e-01,
             2.36314596e-01,   2.39608139e-01,   2.42924475e-01,
             2.46263604e-01,   2.49625526e-01,   2.53010240e-01,
             2.56417747e-01,   2.59848047e-01,   2.63301139e-01,
             2.66777024e-01,   2.70275702e-01,   2.73797172e-01,
             2.77341435e-01,   2.80908491e-01,   2.84498339e-01,
             2.88110981e-01,   2.91746414e-01,   2.95404641e-01,
             2.99085660e-01,   3.02789472e-01,   3.06516077e-01,
             3.10265474e-01,   3.14037664e-01,   3.17832647e-01,
             3.21650422e-01,   3.25490990e-01,   3.29354351e-01,
             3.33240504e-01,   3.37149450e-01,   3.41081189e-01,
             3.45035720e-01,   3.49013045e-01,   3.53013161e-01,
             3.57036071e-01,   3.61081773e-01,   3.65150268e-01,
             3.69241556e-01,   3.73355636e-01,   3.77492509e-01,
             3.81652175e-01,   3.85834633e-01,   3.90039884e-01,
             3.94267928e-01,   3.98518764e-01,   4.02792393e-01,
             4.07088815e-01,   4.11408030e-01,   4.15750037e-01,
             4.20114837e-01,   4.24502429e-01,   4.28912815e-01,
             4.33345993e-01,   4.37801963e-01,   4.42280726e-01,
             4.46782282e-01,   4.51306631e-01,   4.55853773e-01,
             4.60423707e-01,   4.65016433e-01,   4.69631953e-01,
             4.74270265e-01,   4.78931370e-01,   4.83615267e-01,
             4.88321958e-01,   4.93051440e-01,   4.97803716e-01,
             5.02578784e-01,   5.07376645e-01,   5.12197299e-01,
             5.17040745e-01,   5.21906984e-01,   5.26796016e-01,
             5.31707840e-01,   5.36642457e-01,   5.41599867e-01,
             5.46580070e-01,   5.51583065e-01,   5.56592031e-01,
             5.61578658e-01,   5.66542492e-01,   5.71483533e-01,
             5.76401781e-01,   5.81297237e-01,   5.86169900e-01,
             5.91019771e-01,   5.95846848e-01,   6.00651133e-01,
             6.05432626e-01,   6.10191325e-01,   6.14927232e-01,
             6.19640346e-01,   6.24330668e-01,   6.28998197e-01,
             6.33642933e-01,   6.38264877e-01,   6.42864027e-01,
             6.47440386e-01,   6.51993951e-01,   6.56524724e-01,
             6.61032704e-01,   6.65517891e-01,   6.69980286e-01,
             6.74419888e-01,   6.78836697e-01,   6.83230714e-01,
             6.87601938e-01,   6.91950369e-01,   6.96276008e-01,
             7.00578853e-01,   7.04858907e-01,   7.09116167e-01,
             7.13350635e-01,   7.17562310e-01,   7.21751192e-01,
             7.25917282e-01,   7.30060579e-01,   7.34181084e-01,
             7.38278795e-01,   7.42353714e-01,   7.46405840e-01,
             7.50435174e-01,   7.54441715e-01,   7.58425463e-01,
             7.62386419e-01,   7.66324582e-01,   7.70239952e-01,
             7.74132529e-01,   7.78002314e-01,   7.81849306e-01,
             7.85673505e-01,   7.89474912e-01,   7.93253526e-01,
             7.97009348e-01,   8.00742376e-01,   8.04452612e-01,
             8.08140055e-01,   8.11804706e-01,   8.15446564e-01,
             8.19065629e-01,   8.22661902e-01,   8.26235381e-01,
             8.29786069e-01,   8.33313963e-01,   8.36819065e-01,
             8.40301374e-01,   8.43760890e-01,   8.47197614e-01,
             8.50611545e-01,   8.54002683e-01,   8.57371029e-01,
             8.60716582e-01,   8.64039342e-01,   8.67339310e-01,
             8.70616485e-01,   8.73870867e-01,   8.77102456e-01,
             8.80311253e-01,   8.83497257e-01,   8.86660469e-01,
             8.89800887e-01,   8.92918513e-01,   8.96013347e-01,
             8.99085388e-01,   9.02134636e-01,   9.05161091e-01,
             9.08164753e-01,   9.11145623e-01,   9.14103701e-01,
             9.17038985e-01,   9.19951477e-01,   9.22841176e-01,
             9.25708083e-01,   9.28552196e-01,   9.31373518e-01,
             9.34172046e-01,   9.36947782e-01,   9.39700725e-01,
             9.42430875e-01,   9.45138233e-01,   9.47822798e-01,
             9.50484570e-01,   9.53123550e-01,   9.55739737e-01,
             9.58333131e-01,   9.60903732e-01,   9.63451541e-01,
             9.65976557e-01,   9.68478781e-01,   9.70958211e-01,
             9.73414850e-01,   9.75848695e-01,   9.78259748e-01,
             9.80648008e-01,   9.83013475e-01,   9.85356150e-01,
             9.87676032e-01,   9.89973121e-01,   9.92247417e-01,
             9.94498921e-01,   9.96727633e-01,   9.98933551e-01,
             1.00111668e+00,   1.00327701e+00,   1.00541455e+00,
             1.00752930e+00,   1.00962125e+00,   1.01169042e+00,
             1.01373679e+00,   1.01576036e+00,   1.01776115e+00,
             1.01973914e+00,   1.02169434e+00,   1.02362674e+00,
             1.02553636e+00,   1.02742318e+00,   1.02928721e+00,
             1.03112844e+00,   1.03294688e+00,   1.03474253e+00,
             1.03651539e+00,   1.03826546e+00,   1.03999273e+00,
             1.04169721e+00,   1.04337889e+00,   1.04503779e+00,
             1.04667389e+00,   1.04828720e+00,   1.04987771e+00,
             1.05144544e+00,   1.05299037e+00,   1.05451251e+00,
             1.05601185e+00,   1.05748840e+00,   1.05894216e+00,
             1.06037313e+00,   1.06178131e+00,   1.06316669e+00,
             1.06452928e+00,   1.06586907e+00,   1.06718608e+00,
             1.06848029e+00,   1.06975171e+00,   1.07100033e+00,
             1.07222616e+00,   1.07342920e+00,   1.07460945e+00,
             1.07576691e+00,   1.07690157e+00,   1.07801344e+00,
             1.07910251e+00,   1.08016880e+00,   1.08121229e+00,
             1.08223299e+00,   1.08323089e+00,   1.08420601e+00,
             1.08515833e+00,   1.08608786e+00,   1.08699459e+00,
             1.08787853e+00,   1.08873968e+00,   1.08957804e+00,
             1.09039361e+00,   1.09118638e+00,   1.09195636e+00,
             1.09270354e+00,   1.09342794e+00,   1.09412954e+00,
             1.09480835e+00,   1.09546436e+00,   1.09609759e+00,
             1.09670802e+00,   1.09729565e+00,   1.09786050e+00,
             1.09840255e+00,   1.09892181e+00,   1.09941828e+00,
             1.09989195e+00,   1.10034283e+00,   1.10077092e+00,
             1.10117622e+00,   1.10155872e+00,   1.10191843e+00,
             1.10225535e+00,   1.10256947e+00,   1.10286081e+00,
             1.10312935e+00,   1.10337509e+00,   1.10359805e+00,
             1.10379821e+00,   1.10397558e+00,   1.10413016e+00,
             1.10426194e+00,   1.10437093e+00,   1.10445713e+00,
             1.10452054e+00,   1.10456115e+00,   1.10457897e+00,
             1.10457988e+00])[:43]],2,full=True)
    assert(all(array([  1.81305028e-09,   5.80200279e-01]) < 5e-5)) # make sure it matches the degree
    array([[ 0.79999957,  0.69923824],
           [-0.08648613, -0.21754692]]), array([  1.81305028e-09,   5.80200279e-01]), 2, array([ 1.38072121,  0.30595579]), 7.9047879353311146e-14 = polyfit(array([ 0.   ,  0.005,  0.01 ,  0.015,  0.02 ,  0.025,  0.03 ,  0.035,
            0.04 ,  0.045,  0.05 ,  0.055,  0.06 ,  0.065,  0.07 ,  0.075,
            0.08 ,  0.085,  0.09 ,  0.095,  0.1  ,  0.105,  0.11 ,  0.115,
            0.12 ,  0.125,  0.13 ,  0.135,  0.14 ,  0.145,  0.15 ,  0.155,
            0.16 ,  0.165,  0.17 ,  0.175,  0.18 ,  0.185,  0.19 ,  0.195,
            0.2  ,  0.205,  0.21 ,  0.215,  0.22 ,  0.225,  0.23 ,  0.235,
            0.24 ,  0.245,  0.25 ,  0.255,  0.26 ,  0.265,  0.27 ,  0.275,
            0.28 ,  0.285,  0.29 ,  0.295,  0.3  ,  0.305,  0.31 ,  0.315,
            0.32 ,  0.325,  0.33 ,  0.335,  0.34 ,  0.345,  0.35 ,  0.355,
            0.36 ,  0.365,  0.37 ,  0.375,  0.38 ,  0.385,  0.39 ,  0.395,
            0.4  ,  0.405,  0.41 ,  0.415,  0.42 ,  0.425,  0.43 ,  0.435,
            0.44 ,  0.445,  0.45 ,  0.455,  0.46 ,  0.465,  0.47 ,  0.475,
            0.48 ,  0.485,  0.49 ,  0.495,  0.5  ,  0.505,  0.51 ,  0.515,
            0.52 ,  0.525,  0.53 ,  0.535,  0.54 ,  0.545,  0.55 ,  0.555,
            0.56 ,  0.565,  0.57 ,  0.575,  0.58 ,  0.585,  0.59 ,  0.595,
            0.6  ,  0.605,  0.61 ,  0.615,  0.62 ,  0.625,  0.63 ,  0.635,
            0.64 ,  0.645,  0.65 ,  0.655,  0.66 ,  0.665,  0.67 ,  0.675,
            0.68 ,  0.685,  0.69 ,  0.695,  0.7  ,  0.705,  0.71 ,  0.715,
            0.72 ,  0.725,  0.73 ,  0.735,  0.74 ,  0.745,  0.75 ,  0.755,
            0.76 ,  0.765,  0.77 ,  0.775,  0.78 ,  0.785,  0.79 ,  0.795,
            0.8  ,  0.805,  0.81 ,  0.815,  0.82 ,  0.825,  0.83 ,  0.835,
            0.84 ,  0.845,  0.85 ,  0.855,  0.86 ,  0.865,  0.87 ,  0.875,
            0.88 ,  0.885,  0.89 ,  0.895,  0.9  ,  0.905,  0.91 ,  0.915,
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             2.99085660e-01,   3.02789472e-01,   3.06516077e-01,
             3.10265474e-01,   3.14037664e-01,   3.17832647e-01,
             3.21650422e-01,   3.25490990e-01,   3.29354351e-01,
             3.33240504e-01,   3.37149450e-01,   3.41081189e-01,
             3.45035720e-01,   3.49013045e-01,   3.53013161e-01,
             3.57036071e-01,   3.61081773e-01,   3.65150268e-01,
             3.69241556e-01,   3.73355636e-01,   3.77492509e-01,
             3.81652175e-01,   3.85834633e-01,   3.90039884e-01,
             3.94267928e-01,   3.98518764e-01,   4.02792393e-01,
             4.07088815e-01,   4.11408030e-01,   4.15750037e-01,
             4.20114837e-01,   4.24502429e-01,   4.28912815e-01,
             4.33345993e-01,   4.37801963e-01,   4.42280726e-01,
             4.46782282e-01,   4.51306631e-01,   4.55853773e-01,
             4.60423707e-01,   4.65016433e-01,   4.69631953e-01,
             4.74270265e-01,   4.78931370e-01,   4.83615267e-01,
             4.88321958e-01,   4.93051440e-01,   4.97803716e-01,
             5.02578784e-01,   5.07376645e-01,   5.12197299e-01,
             5.17040745e-01,   5.21906984e-01,   5.26796016e-01,
             5.31707840e-01,   5.36642457e-01,   5.41599867e-01,
             5.46580070e-01,   5.51583065e-01,   5.56592031e-01,
             5.61578658e-01,   5.66542492e-01,   5.71483533e-01,
             5.76401781e-01,   5.81297237e-01,   5.86169900e-01,
             5.91019771e-01,   5.95846848e-01,   6.00651133e-01,
             6.05432626e-01,   6.10191325e-01,   6.14927232e-01,
             6.19640346e-01,   6.24330668e-01,   6.28998197e-01,
             6.33642933e-01,   6.38264877e-01,   6.42864027e-01,
             6.47440386e-01,   6.51993951e-01,   6.56524724e-01,
             6.61032704e-01,   6.65517891e-01,   6.69980286e-01,
             6.74419888e-01,   6.78836697e-01,   6.83230714e-01,
             6.87601938e-01,   6.91950369e-01,   6.96276008e-01,
             7.00578853e-01,   7.04858907e-01,   7.09116167e-01,
             7.13350635e-01,   7.17562310e-01,   7.21751192e-01,
             7.25917282e-01,   7.30060579e-01,   7.34181084e-01,
             7.38278795e-01,   7.42353714e-01,   7.46405840e-01,
             7.50435174e-01,   7.54441715e-01,   7.58425463e-01,
             7.62386419e-01,   7.66324582e-01,   7.70239952e-01,
             7.74132529e-01,   7.78002314e-01,   7.81849306e-01,
             7.85673505e-01,   7.89474912e-01,   7.93253526e-01,
             7.97009348e-01,   8.00742376e-01,   8.04452612e-01,
             8.08140055e-01,   8.11804706e-01,   8.15446564e-01,
             8.19065629e-01,   8.22661902e-01,   8.26235381e-01,
             8.29786069e-01,   8.33313963e-01,   8.36819065e-01,
             8.40301374e-01,   8.43760890e-01,   8.47197614e-01,
             8.50611545e-01,   8.54002683e-01,   8.57371029e-01,
             8.60716582e-01,   8.64039342e-01,   8.67339310e-01,
             8.70616485e-01,   8.73870867e-01,   8.77102456e-01,
             8.80311253e-01,   8.83497257e-01,   8.86660469e-01,
             8.89800887e-01,   8.92918513e-01,   8.96013347e-01,
             8.99085388e-01,   9.02134636e-01,   9.05161091e-01,
             9.08164753e-01,   9.11145623e-01,   9.14103701e-01,
             9.17038985e-01,   9.19951477e-01,   9.22841176e-01,
             9.25708083e-01,   9.28552196e-01,   9.31373518e-01,
             9.34172046e-01,   9.36947782e-01,   9.39700725e-01,
             9.42430875e-01,   9.45138233e-01,   9.47822798e-01,
             9.50484570e-01,   9.53123550e-01,   9.55739737e-01,
             9.58333131e-01,   9.60903732e-01,   9.63451541e-01,
             9.65976557e-01,   9.68478781e-01,   9.70958211e-01,
             9.73414850e-01,   9.75848695e-01,   9.78259748e-01,
             9.80648008e-01,   9.83013475e-01,   9.85356150e-01,
             9.87676032e-01,   9.89973121e-01,   9.92247417e-01,
             9.94498921e-01,   9.96727633e-01,   9.98933551e-01,
             1.00111668e+00,   1.00327701e+00,   1.00541455e+00,
             1.00752930e+00,   1.00962125e+00,   1.01169042e+00,
             1.01373679e+00,   1.01576036e+00,   1.01776115e+00,
             1.01973914e+00,   1.02169434e+00,   1.02362674e+00,
             1.02553636e+00,   1.02742318e+00,   1.02928721e+00,
             1.03112844e+00,   1.03294688e+00,   1.03474253e+00,
             1.03651539e+00,   1.03826546e+00,   1.03999273e+00,
             1.04169721e+00,   1.04337889e+00,   1.04503779e+00,
             1.04667389e+00,   1.04828720e+00,   1.04987771e+00,
             1.05144544e+00,   1.05299037e+00,   1.05451251e+00,
             1.05601185e+00,   1.05748840e+00,   1.05894216e+00,
             1.06037313e+00,   1.06178131e+00,   1.06316669e+00,
             1.06452928e+00,   1.06586907e+00,   1.06718608e+00,
             1.06848029e+00,   1.06975171e+00,   1.07100033e+00,
             1.07222616e+00,   1.07342920e+00,   1.07460945e+00,
             1.07576691e+00,   1.07690157e+00,   1.07801344e+00,
             1.07910251e+00,   1.08016880e+00,   1.08121229e+00,
             1.08223299e+00,   1.08323089e+00,   1.08420601e+00,
             1.08515833e+00,   1.08608786e+00,   1.08699459e+00,
             1.08787853e+00,   1.08873968e+00,   1.08957804e+00,
             1.09039361e+00,   1.09118638e+00,   1.09195636e+00,
             1.09270354e+00,   1.09342794e+00,   1.09412954e+00,
             1.09480835e+00,   1.09546436e+00,   1.09609759e+00,
             1.09670802e+00,   1.09729565e+00,   1.09786050e+00,
             1.09840255e+00,   1.09892181e+00,   1.09941828e+00,
             1.09989195e+00,   1.10034283e+00,   1.10077092e+00,
             1.10117622e+00,   1.10155872e+00,   1.10191843e+00,
             1.10225535e+00,   1.10256947e+00,   1.10286081e+00,
             1.10312935e+00,   1.10337509e+00,   1.10359805e+00,
             1.10379821e+00,   1.10397558e+00,   1.10413016e+00,
             1.10426194e+00,   1.10437093e+00,   1.10445713e+00,
             1.10452054e+00,   1.10456115e+00,   1.10457897e+00,
             1.10457988e+00])[43:399]],1,full=True)
    assert(all(array([  1.81305028e-09,   5.80200279e-01]) < 5e-5)) # make sure it matches the degree
    array([[ 0.79999957,  0.69923824],
           [-0.08648613, -0.21754692]]), array([  1.81305028e-09,   5.80200279e-01]), 2, array([ 1.38072121,  0.30595579]), 7.9047879353311146e-14 = polyfit(array([ 0.   ,  0.005,  0.01 ,  0.015,  0.02 ,  0.025,  0.03 ,  0.035,
            0.04 ,  0.045,  0.05 ,  0.055,  0.06 ,  0.065,  0.07 ,  0.075,
            0.08 ,  0.085,  0.09 ,  0.095,  0.1  ,  0.105,  0.11 ,  0.115,
            0.12 ,  0.125,  0.13 ,  0.135,  0.14 ,  0.145,  0.15 ,  0.155,
            0.16 ,  0.165,  0.17 ,  0.175,  0.18 ,  0.185,  0.19 ,  0.195,
            0.2  ,  0.205,  0.21 ,  0.215,  0.22 ,  0.225,  0.23 ,  0.235,
            0.24 ,  0.245,  0.25 ,  0.255,  0.26 ,  0.265,  0.27 ,  0.275,
            0.28 ,  0.285,  0.29 ,  0.295,  0.3  ,  0.305,  0.31 ,  0.315,
            0.32 ,  0.325,  0.33 ,  0.335,  0.34 ,  0.345,  0.35 ,  0.355,
            0.36 ,  0.365,  0.37 ,  0.375,  0.38 ,  0.385,  0.39 ,  0.395,
            0.4  ,  0.405,  0.41 ,  0.415,  0.42 ,  0.425,  0.43 ,  0.435,
            0.44 ,  0.445,  0.45 ,  0.455,  0.46 ,  0.465,  0.47 ,  0.475,
            0.48 ,  0.485,  0.49 ,  0.495,  0.5  ,  0.505,  0.51 ,  0.515,
            0.52 ,  0.525,  0.53 ,  0.535,  0.54 ,  0.545,  0.55 ,  0.555,
            0.56 ,  0.565,  0.57 ,  0.575,  0.58 ,  0.585,  0.59 ,  0.595,
            0.6  ,  0.605,  0.61 ,  0.615,  0.62 ,  0.625,  0.63 ,  0.635,
            0.64 ,  0.645,  0.65 ,  0.655,  0.66 ,  0.665,  0.67 ,  0.675,
            0.68 ,  0.685,  0.69 ,  0.695,  0.7  ,  0.705,  0.71 ,  0.715,
            0.72 ,  0.725,  0.73 ,  0.735,  0.74 ,  0.745,  0.75 ,  0.755,
            0.76 ,  0.765,  0.77 ,  0.775,  0.78 ,  0.785,  0.79 ,  0.795,
            0.8  ,  0.805,  0.81 ,  0.815,  0.82 ,  0.825,  0.83 ,  0.835,
            0.84 ,  0.845,  0.85 ,  0.855,  0.86 ,  0.865,  0.87 ,  0.875,
            0.88 ,  0.885,  0.89 ,  0.895,  0.9  ,  0.905,  0.91 ,  0.915,
            0.92 ,  0.925,  0.93 ,  0.935,  0.94 ,  0.945,  0.95 ,  0.955,
            0.96 ,  0.965,  0.97 ,  0.975,  0.98 ,  0.985,  0.99 ,  0.995,
            1.   ,  1.005,  1.01 ,  1.015,  1.02 ,  1.025,  1.03 ,  1.035,
            1.04 ,  1.045,  1.05 ,  1.055,  1.06 ,  1.065,  1.07 ,  1.075,
            1.08 ,  1.085,  1.09 ,  1.095,  1.1  ,  1.105,  1.11 ,  1.115,
            1.12 ,  1.125,  1.13 ,  1.135,  1.14 ,  1.145,  1.15 ,  1.155,
            1.16 ,  1.165,  1.17 ,  1.175,  1.18 ,  1.185,  1.19 ,  1.195,
            1.2  ,  1.205,  1.21 ,  1.215,  1.22 ,  1.225,  1.23 ,  1.235,
            1.24 ,  1.245,  1.25 ,  1.255,  1.26 ,  1.265,  1.27 ,  1.275,
            1.28 ,  1.285,  1.29 ,  1.295,  1.3  ,  1.305,  1.31 ,  1.315,
            1.32 ,  1.325,  1.33 ,  1.335,  1.34 ,  1.345,  1.35 ,  1.355,
            1.36 ,  1.365,  1.37 ,  1.375,  1.38 ,  1.385,  1.39 ,  1.395,
            1.4  ,  1.405,  1.41 ,  1.415,  1.42 ,  1.425,  1.43 ,  1.435,
            1.44 ,  1.445,  1.45 ,  1.455,  1.46 ,  1.465,  1.47 ,  1.475,
            1.48 ,  1.485,  1.49 ,  1.495,  1.5  ,  1.505,  1.51 ,  1.515,
            1.52 ,  1.525,  1.53 ,  1.535,  1.54 ,  1.545,  1.55 ,  1.555,
            1.56 ,  1.565,  1.57 ,  1.575,  1.58 ,  1.585,  1.59 ,  1.595,
            1.6  ,  1.605,  1.61 ,  1.615,  1.62 ,  1.625,  1.63 ,  1.635,
            1.64 ,  1.645,  1.65 ,  1.655,  1.66 ,  1.665,  1.67 ,  1.675,
            1.68 ,  1.685,  1.69 ,  1.695,  1.7  ,  1.705,  1.71 ,  1.715,
            1.72 ,  1.725,  1.73 ,  1.735,  1.74 ,  1.745,  1.75 ,  1.755,
            1.76 ,  1.765,  1.77 ,  1.775,  1.78 ,  1.785,  1.79 ,  1.795,
            1.8  ,  1.805,  1.81 ,  1.815,  1.82 ,  1.825,  1.83 ,  1.835,
            1.84 ,  1.845,  1.85 ,  1.855,  1.86 ,  1.865,  1.87 ,  1.875,
            1.88 ,  1.885,  1.89 ,  1.895,  1.9  ,  1.905,  1.91 ,  1.915,
            1.92 ,  1.925,  1.93 ,  1.935,  1.94 ,  1.945,  1.95 ,  1.955,
            1.96 ,  1.965,  1.97 ,  1.975,  1.98 ,  1.985,  1.99 ,  1.995,
            2.   ,  2.005,  2.01 ,  2.015,  2.02 ,  2.025,  2.03 ,  2.035,
            2.04 ,  2.045,  2.05 ,  2.055,  2.06 ,  2.065,  2.07 ,  2.075,
            2.08 ,  2.085,  2.09 ,  2.095,  2.1  ,  2.105,  2.11 ,  2.115,
            2.12 ,  2.125,  2.13 ,  2.135,  2.14 ,  2.145,  2.15 ,  2.155,
            2.16 ,  2.165,  2.17 ,  2.175,  2.18 ,  2.185,  2.19 ,  2.195,
            2.2  ,  2.205])[399:],<numpy.lib.index_tricks.CClass object at 0x7f21eb3ba3d0>[array([  0.00000000e+00,   4.62500000e-05,   1.85000000e-04,
             4.16250000e-04,   7.40000000e-04,   1.15625000e-03,
             1.66500000e-03,   2.26625000e-03,   2.96000000e-03,
             3.74625000e-03,   4.62500000e-03,   5.59625000e-03,
             6.66000000e-03,   7.81625000e-03,   9.06500000e-03,
             1.04062500e-02,   1.18400000e-02,   1.33662500e-02,
             1.49850000e-02,   1.66962500e-02,   1.85000000e-02,
             2.03962500e-02,   2.23850000e-02,   2.44662500e-02,
             2.66400000e-02,   2.89062500e-02,   3.12650000e-02,
             3.37162500e-02,   3.62600000e-02,   3.88962500e-02,
             4.16250000e-02,   4.44462500e-02,   4.73600000e-02,
             5.03662500e-02,   5.34650000e-02,   5.66562500e-02,
             5.99400000e-02,   6.33162500e-02,   6.67850000e-02,
             7.03462500e-02,   7.40000000e-02,   7.77462500e-02,
             8.15850000e-02,   8.55162500e-02,   8.95135135e-02,
             9.35135135e-02,   9.75135135e-02,   1.01513514e-01,
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             1.29513514e-01,   1.33513514e-01,   1.37513514e-01,
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             1.65513514e-01,   1.69513514e-01,   1.73513514e-01,
             1.77513514e-01,   1.81513514e-01,   1.85513514e-01,
             1.89513514e-01,   1.93513514e-01,   1.97513514e-01,
             2.01513514e-01,   2.05513514e-01,   2.09513514e-01,
             2.13513514e-01,   2.17513514e-01,   2.21513514e-01,
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             3.57513514e-01,   3.61513514e-01,   3.65513514e-01,
             3.69513514e-01,   3.73513514e-01,   3.77513514e-01,
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             4.89513514e-01,   4.93513514e-01,   4.97513514e-01,
             5.01513514e-01,   5.05513514e-01,   5.09513514e-01,
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             5.97513514e-01,   6.01513514e-01,   6.05513514e-01,
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             6.21513514e-01,   6.25513514e-01,   6.29513514e-01,
             6.33513514e-01,   6.37513514e-01,   6.41513514e-01,
             6.45513514e-01,   6.49513514e-01,   6.53513514e-01,
             6.57513514e-01,   6.61513514e-01,   6.65513514e-01,
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             7.77513514e-01,   7.81513514e-01,   7.85513514e-01,
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             8.49513514e-01,   8.53513514e-01,   8.57513514e-01,
             8.61513514e-01,   8.65513514e-01,   8.69513514e-01,
             8.73513514e-01,   8.77513514e-01,   8.81513514e-01,
             8.85513514e-01,   8.89513514e-01,   8.93513514e-01,
             8.97513514e-01,   9.01513514e-01,   9.05513514e-01,
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             9.21513514e-01,   9.25513514e-01,   9.29513514e-01,
             9.33513514e-01,   9.37513514e-01,   9.41513514e-01,
             9.45513514e-01,   9.49513514e-01,   9.53513514e-01,
             9.57513514e-01,   9.61513514e-01,   9.65513514e-01,
             9.69513514e-01,   9.73513514e-01,   9.77513514e-01,
             9.81513514e-01,   9.85513514e-01,   9.89513514e-01,
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             1.01751351e+00,   1.02151351e+00,   1.02551351e+00,
             1.02951351e+00,   1.03351351e+00,   1.03751351e+00,
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             1.05351351e+00,   1.05751351e+00,   1.06151351e+00,
             1.06551351e+00,   1.06951351e+00,   1.07351351e+00,
             1.07751351e+00,   1.08151351e+00,   1.08551351e+00,
             1.08951351e+00,   1.09351351e+00,   1.09751351e+00,
             1.10151351e+00,   1.10551351e+00,   1.10951351e+00,
             1.11351351e+00,   1.11751351e+00,   1.12151351e+00,
             1.12551351e+00,   1.12951351e+00,   1.13351351e+00,
             1.13751351e+00,   1.14151351e+00,   1.14551351e+00,
             1.14951351e+00,   1.15351351e+00,   1.15751351e+00,
             1.16151351e+00,   1.16551351e+00,   1.16951351e+00,
             1.17351351e+00,   1.17751351e+00,   1.18151351e+00,
             1.18551351e+00,   1.18951351e+00,   1.19351351e+00,
             1.19751351e+00,   1.20151351e+00,   1.20551351e+00,
             1.20951351e+00,   1.21351351e+00,   1.21751351e+00,
             1.22151351e+00,   1.22551351e+00,   1.22951351e+00,
             1.23351351e+00,   1.23751351e+00,   1.24151351e+00,
             1.24551351e+00,   1.24951351e+00,   1.25351351e+00,
             1.25751351e+00,   1.26151351e+00,   1.26551351e+00,
             1.26951351e+00,   1.27351351e+00,   1.27751351e+00,
             1.28151351e+00,   1.28551351e+00,   1.28951351e+00,
             1.29351351e+00,   1.29751351e+00,   1.30151351e+00,
             1.30551351e+00,   1.30951351e+00,   1.31351351e+00,
             1.31751351e+00,   1.32151351e+00,   1.32551351e+00,
             1.32951351e+00,   1.33351351e+00,   1.33751351e+00,
             1.34151351e+00,   1.34551351e+00,   1.34951351e+00,
             1.35351351e+00,   1.35751351e+00,   1.36151351e+00,
             1.36551351e+00,   1.36951351e+00,   1.37351351e+00,
             1.37751351e+00,   1.38151351e+00,   1.38551351e+00,
             1.38951351e+00,   1.39351351e+00,   1.39751351e+00,
             1.40151351e+00,   1.40551351e+00,   1.40951351e+00,
             1.41351351e+00,   1.41751351e+00,   1.42151351e+00,
             1.42551351e+00,   1.42951351e+00,   1.43351351e+00,
             1.43751351e+00,   1.44151351e+00,   1.44551351e+00,
             1.44951351e+00,   1.45351351e+00,   1.45751351e+00,
             1.46151351e+00,   1.46551351e+00,   1.46951351e+00,
             1.47351351e+00,   1.47751351e+00,   1.48151351e+00,
             1.48551351e+00,   1.48951351e+00,   1.49351351e+00,
             1.49751351e+00,   1.50151351e+00,   1.50547077e+00,
             1.50933559e+00,   1.51310791e+00,   1.51678773e+00,
             1.52037505e+00,   1.52386987e+00,   1.52727219e+00,
             1.53058201e+00,   1.53379933e+00,   1.53692415e+00,
             1.53995647e+00,   1.54289630e+00,   1.54574362e+00,
             1.54849844e+00,   1.55116076e+00,   1.55373058e+00,
             1.55620790e+00,   1.55859272e+00,   1.56088504e+00,
             1.56308486e+00,   1.56519218e+00,   1.56720700e+00,
             1.56912932e+00,   1.57095915e+00,   1.57269647e+00,
             1.57434129e+00,   1.57589361e+00,   1.57735343e+00,
             1.57872075e+00,   1.57999557e+00,   1.58117789e+00,
             1.58226771e+00,   1.58326503e+00,   1.58416985e+00,
             1.58498218e+00,   1.58570200e+00,   1.58632932e+00,
             1.58686414e+00,   1.58730646e+00,   1.58765628e+00,
             1.58791360e+00,   1.58807842e+00,   1.58815074e+00,
             1.58815442e+00])[399:],array([  0.00000000e+00,   1.13963443e-05,   4.55853773e-05,
             1.02567099e-04,   1.82341509e-04,   2.84908608e-04,
             4.10268395e-04,   5.58420871e-04,   7.29366036e-04,
             9.23103889e-04,   1.13963443e-03,   1.37895766e-03,
             1.64107358e-03,   1.92598219e-03,   2.23368349e-03,
             2.56417747e-03,   2.91746414e-03,   3.29354351e-03,
             3.69241556e-03,   4.11408030e-03,   4.55853773e-03,
             5.02578784e-03,   5.51583065e-03,   6.02866614e-03,
             6.56429432e-03,   7.12271520e-03,   7.70392876e-03,
             8.30793500e-03,   8.93473394e-03,   9.58432557e-03,
             1.02567099e-02,   1.09518869e-02,   1.16698566e-02,
             1.24106190e-02,   1.31741740e-02,   1.39605218e-02,
             1.47696622e-02,   1.56015954e-02,   1.64563212e-02,
             1.73338397e-02,   1.82341509e-02,   1.91572548e-02,
             2.01031514e-02,   2.10718406e-02,   2.20633226e-02,
             2.30775972e-02,   2.41146646e-02,   2.51745246e-02,
             2.62571773e-02,   2.73626227e-02,   2.84908608e-02,
             2.96418916e-02,   3.08157150e-02,   3.20123312e-02,
             3.32317400e-02,   3.44739415e-02,   3.57389358e-02,
             3.70267227e-02,   3.83373023e-02,   3.96706746e-02,
             4.10268395e-02,   4.24057972e-02,   4.38075475e-02,
             4.52320906e-02,   4.66794263e-02,   4.81495547e-02,
             4.96424758e-02,   5.11581896e-02,   5.26966961e-02,
             5.42579953e-02,   5.58420871e-02,   5.74489717e-02,
             5.90786489e-02,   6.07311188e-02,   6.24063815e-02,
             6.41044368e-02,   6.58252848e-02,   6.75689254e-02,
             6.93353588e-02,   7.11245849e-02,   7.29366036e-02,
             7.47714150e-02,   7.66290192e-02,   7.85094160e-02,
             8.04126055e-02,   8.23385877e-02,   8.42873625e-02,
             8.62589301e-02,   8.82532904e-02,   9.02704433e-02,
             9.23103889e-02,   9.43731273e-02,   9.64586583e-02,
             9.85669820e-02,   1.00698098e-01,   1.02852007e-01,
             1.05028709e-01,   1.07228204e-01,   1.09450491e-01,
             1.11695571e-01,   1.13963443e-01,   1.16254108e-01,
             1.18567566e-01,   1.20903817e-01,   1.23262860e-01,
             1.25644696e-01,   1.28049325e-01,   1.30476746e-01,
             1.32926960e-01,   1.35399967e-01,   1.37895766e-01,
             1.40414358e-01,   1.42955743e-01,   1.45519921e-01,
             1.48106891e-01,   1.50716654e-01,   1.53349209e-01,
             1.56004557e-01,   1.58682698e-01,   1.61383632e-01,
             1.64107358e-01,   1.66853877e-01,   1.69623189e-01,
             1.72415293e-01,   1.75230190e-01,   1.78067880e-01,
             1.80928362e-01,   1.83811637e-01,   1.86717705e-01,
             1.89646566e-01,   1.92598219e-01,   1.95572665e-01,
             1.98569903e-01,   2.01589935e-01,   2.04632759e-01,
             2.07698375e-01,   2.10786784e-01,   2.13897986e-01,
             2.17031981e-01,   2.20188768e-01,   2.23368349e-01,
             2.26570721e-01,   2.29795887e-01,   2.33043845e-01,
             2.36314596e-01,   2.39608139e-01,   2.42924475e-01,
             2.46263604e-01,   2.49625526e-01,   2.53010240e-01,
             2.56417747e-01,   2.59848047e-01,   2.63301139e-01,
             2.66777024e-01,   2.70275702e-01,   2.73797172e-01,
             2.77341435e-01,   2.80908491e-01,   2.84498339e-01,
             2.88110981e-01,   2.91746414e-01,   2.95404641e-01,
             2.99085660e-01,   3.02789472e-01,   3.06516077e-01,
             3.10265474e-01,   3.14037664e-01,   3.17832647e-01,
             3.21650422e-01,   3.25490990e-01,   3.29354351e-01,
             3.33240504e-01,   3.37149450e-01,   3.41081189e-01,
             3.45035720e-01,   3.49013045e-01,   3.53013161e-01,
             3.57036071e-01,   3.61081773e-01,   3.65150268e-01,
             3.69241556e-01,   3.73355636e-01,   3.77492509e-01,
             3.81652175e-01,   3.85834633e-01,   3.90039884e-01,
             3.94267928e-01,   3.98518764e-01,   4.02792393e-01,
             4.07088815e-01,   4.11408030e-01,   4.15750037e-01,
             4.20114837e-01,   4.24502429e-01,   4.28912815e-01,
             4.33345993e-01,   4.37801963e-01,   4.42280726e-01,
             4.46782282e-01,   4.51306631e-01,   4.55853773e-01,
             4.60423707e-01,   4.65016433e-01,   4.69631953e-01,
             4.74270265e-01,   4.78931370e-01,   4.83615267e-01,
             4.88321958e-01,   4.93051440e-01,   4.97803716e-01,
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             5.31707840e-01,   5.36642457e-01,   5.41599867e-01,
             5.46580070e-01,   5.51583065e-01,   5.56592031e-01,
             5.61578658e-01,   5.66542492e-01,   5.71483533e-01,
             5.76401781e-01,   5.81297237e-01,   5.86169900e-01,
             5.91019771e-01,   5.95846848e-01,   6.00651133e-01,
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             6.33642933e-01,   6.38264877e-01,   6.42864027e-01,
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             6.61032704e-01,   6.65517891e-01,   6.69980286e-01,
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             6.87601938e-01,   6.91950369e-01,   6.96276008e-01,
             7.00578853e-01,   7.04858907e-01,   7.09116167e-01,
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             7.50435174e-01,   7.54441715e-01,   7.58425463e-01,
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             7.74132529e-01,   7.78002314e-01,   7.81849306e-01,
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             9.34172046e-01,   9.36947782e-01,   9.39700725e-01,
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             9.94498921e-01,   9.96727633e-01,   9.98933551e-01,
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             1.01373679e+00,   1.01576036e+00,   1.01776115e+00,
             1.01973914e+00,   1.02169434e+00,   1.02362674e+00,
             1.02553636e+00,   1.02742318e+00,   1.02928721e+00,
             1.03112844e+00,   1.03294688e+00,   1.03474253e+00,
             1.03651539e+00,   1.03826546e+00,   1.03999273e+00,
             1.04169721e+00,   1.04337889e+00,   1.04503779e+00,
             1.04667389e+00,   1.04828720e+00,   1.04987771e+00,
             1.05144544e+00,   1.05299037e+00,   1.05451251e+00,
             1.05601185e+00,   1.05748840e+00,   1.05894216e+00,
             1.06037313e+00,   1.06178131e+00,   1.06316669e+00,
             1.06452928e+00,   1.06586907e+00,   1.06718608e+00,
             1.06848029e+00,   1.06975171e+00,   1.07100033e+00,
             1.07222616e+00,   1.07342920e+00,   1.07460945e+00,
             1.07576691e+00,   1.07690157e+00,   1.07801344e+00,
             1.07910251e+00,   1.08016880e+00,   1.08121229e+00,
             1.08223299e+00,   1.08323089e+00,   1.08420601e+00,
             1.08515833e+00,   1.08608786e+00,   1.08699459e+00,
             1.08787853e+00,   1.08873968e+00,   1.08957804e+00,
             1.09039361e+00,   1.09118638e+00,   1.09195636e+00,
             1.09270354e+00,   1.09342794e+00,   1.09412954e+00,
             1.09480835e+00,   1.09546436e+00,   1.09609759e+00,
             1.09670802e+00,   1.09729565e+00,   1.09786050e+00,
             1.09840255e+00,   1.09892181e+00,   1.09941828e+00,
             1.09989195e+00,   1.10034283e+00,   1.10077092e+00,
             1.10117622e+00,   1.10155872e+00,   1.10191843e+00,
             1.10225535e+00,   1.10256947e+00,   1.10286081e+00,
             1.10312935e+00,   1.10337509e+00,   1.10359805e+00,
             1.10379821e+00,   1.10397558e+00,   1.10413016e+00,
             1.10426194e+00,   1.10437093e+00,   1.10445713e+00,
             1.10452054e+00,   1.10456115e+00,   1.10457897e+00,
             1.10457988e+00])[399:]],2,full=True)
    assert(all(array([  1.81305028e-09,   5.80200279e-01]) < 5e-5)) # make sure it matches the degree
    

======================================================================
FAIL: test_trajectory.TestTrajectory.test_multipleretiming
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 330, in test_multipleretiming
    assert(retimer2.PlanPath(testtraj,False)==PlannerStatus.HasSolution)
AssertionError: 
    assert(<openravepy._openravepy_.openravepy_int.ActiveDOFTrajectoryRetimer object at 0x7f21d5e9f9f0>.PlanPath(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory'),False)==PlannerStatus.HasSolution)
    assert(abs(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').GetDuration()-RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').GetDuration()) <= 1e-07)
    RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory') = RaveClone(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory'), 0)
>>  assert(<openravepy._openravepy_.openravepy_int.ActiveDOFTrajectoryRetimer object at 0x7f21d5e39e10>.PlanPath(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory'),False)==PlannerStatus.HasSolution)
    assert( abs(modf(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').GetDuration()/0.0071111111111111115+0.5)[0]-0.5) <= 0.01 ) # has to be a multiple
    

======================================================================
FAIL: test_trajectory.TestTrajectory.test_simpleretiming
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 383, in test_simpleretiming
    assert( abs(traj.GetDuration()-0.910222222222) < g_epsilon)
AssertionError: 
    RaveSetDebugLevel(DebugLevel.Verbose)
    openravepy._openravepy_.openravepy_int.PlannerStatus.HasSolution=<openravepy._openravepy_.openravepy_int.ActiveDOFTrajectoryRetimer object at 0x7f21d5e39e68>.PlanPath(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory'),False)
    assert(openravepy._openravepy_.openravepy_int.PlannerStatus.HasSolution == PlannerStatus.HasSolution)
>>  assert( abs(RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').GetDuration()-0.910222222222) < 1e-07)
    <test_trajectory.TestTrajectory object at 0x7f21d5e5c0d0>.RunTrajectory(RaveGetEnvironment(1).GetRobot('PUMA'), RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory'))
    

======================================================================
FAIL: test_trajectory.TestTrajectory.test_smoothing
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/usr/lib/python2.7/site-packages/nose/case.py", line 197, in runTest
    self.test(*self.arg)
  File "/home/thofmann/rpmbuild/BUILD/openrave-0.9.0/test/test_trajectory.py", line 294, in test_smoothing
    assert( transdist(data1,data2) <= g_epsilon)
AssertionError: 
    array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,
            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,
>>          0.09999   ,  1.        ]) = RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').Sample(0.10000000000000001)
    array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,
            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,
            0.04567885,  1.        ]) = RaveCreateInterface(RaveGetEnvironment(1),InterfaceType.trajectory,'GenericTrajectory').Sample(0.10000000000000001)
    assert( transdist(array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,
            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,
            0.09999   ,  1.        ]),array([ 0.099995  , -0.00163668, -0.00523334,  0.00448948,  0.03239997,
            1.        , -0.03273367, -0.1046667 ,  0.08978957,  0.64799932,
            0.04567885,  1.        ])) <= 1e-07)
    

----------------------------------------------------------------------
XML: results.xml
----------------------------------------------------------------------
Ran 162 tests in 95.917s

FAILED (errors=34, failures=22)
noseplugins.multiprocess 2017-10-13 12:05:37,208: DEBUG Tell all workers to stop