• config_dir : capture_exec
• cur_config : capture_exec
• desc : urdf_pub
• executive : capture_exec
• full_paths : capture_exec
• keep_collecting : capture_exec
• m_robot : capture_exec
• pub : capture_exec , urdf_pub
• resp : capture_exec
• robot_description : capture_exec
• sample_failure : capture_exec
• sample_names : capture_exec
• sample_options : capture_exec
• sample_steps : capture_exec
• sample_success : capture_exec
• samples_dir : capture_exec
• system : capture_exec