Hello,

I am trying to move a custom robot in simulation with MoveIt. I work with ROS kinetic on Ubuntu 16.04 in a VM.

I started with the original URDF of the Schunk LWA4P and generated a Moveit configuration package for it with the MoveIt setup assistant. Everything worked as expected and I could move the Schunk LWA4P with interactive markers in rviz.

For my custom robot I modified the URDF of the Schunk LWA4P by adding some obstacles (walls, table), a gripper and a camera. The modified URDF is properly displayed in rviz. Again, I generated a Moveit configuration package with the MoveIt setup assistant for this modified robot. (Hence, I regenerated the collision matrix and added a new planning group for the gripper)

Now when I launch the simulated custom robot and Moveit successfully with:

$ roslaunch schunk_lwa4p sim_with_gripper.launch 
$ roslaunch lwa4p_movit_config moveit_planning_execution.launch 

I observe a strange behaviour: It seems that the motion planning works for all movements that don't require to move the first joint arm_1_joint. For instance, simply moving the robot up and down perfectly works, as this does not require the joint arm_1_joint to move at all.

However, if I try to move the robot left or right, planning fails, giving me the following output:

[ INFO] [1574340636.590591270, 370.486000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1574340636.591234451, 370.487000000]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1574340636.592118749, 370.488000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1574340636.592193685, 370.488000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1574340636.592314248, 370.488000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1574340636.592467171, 370.488000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1574340641.591400125, 375.367000000]: RRTConnect: Created 2190 states (1056 start + 1134 goal)
[ INFO] [1574340641.591594623, 375.367000000]: RRTConnect: Created 2238 states (1097 start + 1141 goal)
[ INFO] [1574340641.591739554, 375.367000000]: RRTConnect: Created 2038 states (1016 start + 1022 goal)
[ INFO] [1574340641.591953590, 375.367000000]: RRTConnect: Created 1901 states (904 start + 997 goal)
[ WARN] [1574340641.592145409, 375.368000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.000663 seconds
[ INFO] [1574340641.592256769, 375.368000000]: Unable to solve the planning problem
[ WARN] [1574340641.598533896, 375.373000000]: Fail: ABORTED: No motion plan found. No execution attempted.

or planning fails as a collision is detected in the link arm_2_link for no apparent reason

For me, this seems like a problem either in my URDF or generated SRDF. Do you have any idea of what is going on? I uploaded my MoveIt and simulation packages to github.

Any help is highly appreciated!

This is the output of $ roslaunch lwa4p_movit_config moveit_planning_execution.launch at startup:

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://VMLinux1604Simon:42355/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/gripper/default_planner_config: None
 * /move_group/gripper/longest_valid_segment_fraction: 0.005
 * /move_group/gripper/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/gripper/projection_evaluator: joints(wsg_50_gri...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/default_planner_config: 
 * /move_group/manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/manipulator/projection_evaluator: joints(arm_1_join...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /robot_description_kinematics/gripper/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/gripper/kinematics_solver_attempts: 3
 * /robot_description_kinematics/gripper/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/gripper/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/arm_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_1_joint/max_velocity: 1.26
 * /robot_description_planning/joint_limits/arm_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_2_joint/max_velocity: 1.26
 * /robot_description_planning/joint_limits/arm_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_3_joint/max_velocity: 1.26
 * /robot_description_planning/joint_limits/arm_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_4_joint/max_velocity: 1.26
 * /robot_description_planning/joint_limits/arm_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_5_joint/max_velocity: 1.26
 * /robot_description_planning/joint_limits/arm_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_6_joint/max_velocity: 1.26
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_left_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_left_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_left_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_left_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_right_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_right_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_right_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wsg_50_gripper_base_joint_gripper_right_joint/max_velocity: 1
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/gripper/kinematics_solver: kdl_kinematics_pl...
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/gripper/kinematics_solver_attempts: 3
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/gripper/kinematics_solver_search_resolution: 0.005
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/gripper/kinematics_solver_timeout: 0.005
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/manipulator/kinematics_solver_attempts: 3
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_VMLinux1604Simon_45648_2708234205267540025/manipulator/kinematics_solver_timeout: 0.005

NODES
  /
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_VMLinux1604Simon_45648_2708234205267540025 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [45669]
process[move_group-2]: started with pid [45670]
process[rviz_VMLinux1604Simon_45648_2708234205267540025-3]: started with pid [45672]
[ INFO] [1574340345.275994533]: Loading robot model 'lwa4p'...
[ INFO] [1574340345.353347935]: rviz version 1.12.17
[ INFO] [1574340345.353422063]: compiled against Qt version 5.5.1
[ INFO] [1574340345.353450289]: compiled against OGRE version 1.9.0 (Ghadamon)
[ WARN] [1574340345.360018291]: Could not identify parent group for end-effector 'gripper_eef'
[ INFO] [1574340345.442182802]: Loading robot model 'lwa4p'...
[ WARN] [1574340345.502811265, 83.078000000]: Could not identify parent group for end-effector 'gripper_eef'
[ INFO] [1574340345.529983650, 83.102000000]: Loading robot model 'lwa4p'...
[ INFO] [1574340345.555835969]: Stereo is NOT SUPPORTED
[ INFO] [1574340345.555920455]: OpenGl version: 2.1 (GLSL 1.2).
[ WARN] [1574340345.596463315, 83.164000000]: Could not identify parent group for end-effector 'gripper_eef'
[ERROR] [1574340345.596593643, 83.164000000]: Group 'gripper' is not a chain
[ERROR] [1574340345.596630614, 83.164000000]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'gripper'
[ERROR] [1574340345.596864376, 83.164000000]: Kinematics solver could not be instantiated for joint group gripper.
[ INFO] [1574340345.848723332, 83.410000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1574340345.853055194, 83.415000000]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1574340345.853112433, 83.415000000]: Starting scene monitor
[ INFO] [1574340345.857601966, 83.419000000]: Listening to '/planning_scene'
[ INFO] [1574340345.857780853, 83.420000000]: Starting world geometry monitor
[ INFO] [1574340345.862390282, 83.424000000]: Listening to '/collision_object' using message notifier with target frame '/robot_base '
[ INFO] [1574340345.867157958, 83.428000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1574340346.009177099, 83.565000000]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1574340346.038152294, 83.590000000]: Initializing OMPL interface using ROS parameters
[ERROR] [1574340346.043662539, 83.595000000]: Could not find the planner configuration 'None' on the param server
[ INFO] [1574340346.103917871, 83.653000000]: Using planning interface 'OMPL'
[ INFO] [1574340346.106805689, 83.656000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1574340346.108547341, 83.657000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1574340346.109632810, 83.659000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1574340346.110546890, 83.660000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1574340346.111515234, 83.660000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1574340346.112892875, 83.662000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1574340346.112965621, 83.662000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1574340346.113021133, 83.662000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1574340346.113060174, 83.662000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1574340346.113091285, 83.662000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1574340346.113108442, 83.662000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1574340346.117760288, 83.666000000]: 
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1574340346.119115583, 83.667000000]: 
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ INFO] [1574340346.366878638, 83.912000000]: Added FollowJointTrajectory controller for arm/arm_trajectory_controller
[ INFO] [1574340346.670326224, 84.211000000]: Added FollowJointTrajectory controller for arm/gripper_trajectory_controller
[ INFO] [1574340346.670469049, 84.211000000]: Returned 2 controllers in list
[ INFO] [1574340346.697560879, 84.237000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1574340346.849802760, 84.387000000]: 

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

[ INFO] [1574340346.849966606, 84.388000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1574340346.849995619, 84.388000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1574340348.967897640, 86.490000000]: Loading robot model 'lwa4p'...
[ WARN] [1574340349.114411099, 86.637000000]: Could not identify parent group for end-effector 'gripper_eef'
[ INFO] [1574340349.174881761, 86.698000000]: Loading robot model 'lwa4p'...
[ WARN] [1574340349.271127826, 86.795000000]: Could not identify parent group for end-effector 'gripper_eef'
[ INFO] [1574340349.287237433, 86.811000000]: Loading robot model 'lwa4p'...
[ WARN] [1574340349.381075766, 86.904000000]: Could not identify parent group for end-effector 'gripper_eef'
[ERROR] [1574340349.381220659, 86.904000000]: Group 'gripper' is not a chain
[ERROR] [1574340349.381264897, 86.904000000]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'gripper'
[ERROR] [1574340349.381646606, 86.905000000]: Kinematics solver could not be instantiated for joint group gripper.
[ INFO] [1574340349.846395981, 87.357000000]: Starting scene monitor
[ INFO] [1574340349.852138579, 87.363000000]: Listening to '/move_group/monitored_planning_scene'
[ WARN] [1574340352.510415369, 89.995000000]: The STL file 'package://wsg_32_description/meshes/left_finger_link.STL' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ WARN] [1574340352.524200639, 90.009000000]: The STL file 'package://wsg_32_description/meshes/right_finger_link.STL' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ INFO] [1574340352.694249921, 90.169000000]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ WARN] [1574340353.645413008, 91.111000000]: 
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ INFO] [1574340353.653016314, 91.117000000]: Ready to take commands for planning group manipulator.
[ INFO] [1574340353.653178603, 91.117000000]: Looking around: no
[ INFO] [1574340353.653298441, 91.117000000]: Replanning: no