MoveIt Pro Objective Integration Tests

136

Total objective tests

Objectives passed

Objectives failed

101

Objectives skipped

10.2s

Avg test time

100%

Objective pass rate

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▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

31 pass60 skip

✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	44.5s	123 warnings · 24114 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792909634.04493022 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792909634.65707064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×4 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.79sINFOros2_control_node[2026-10-25 06:27:14.831] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-10-25 06:27:14.831] [info] Accepted new action goal ×2 + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947782 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947782 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081105 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081105 ms (missed cycles : 2).[0m ×2 + 3.80sINFOjoint_trajectory_controllerReceived new action goal ×3975 + 3.80sINFOjoint_trajectory_controllerAccepted new action goal ×3975 + 3.80sINFOros2_control_nodeReceived new action goal[0m ×7950 + 3.80sINFOros2_control_nodeAccepted new action goal[0m ×7950 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914567 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914567 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033883 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033883 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076424 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076424 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100784 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100784 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118741 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118741 ms (missed cycles : 2).[0m ×2 + 9.12sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 9.12sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 9.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 9.12sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 9.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138822 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138822 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330635 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330635 ms (missed cycles : 2).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734425 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734425 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844188 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844188 ms (missed cycles : 2).[0m ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695082 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695082 ms (missed cycles : 2).[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411971 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411971 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163631 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163631 ms (missed cycles : 2).[0m ×2 + 17.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967326 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967326 ms (missed cycles : 2).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777275 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777275 ms (missed cycles : 2).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723948 ms (missed cycles : 2). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723948 ms (missed cycles : 2).[0m ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701993 ms (missed cycles : 2). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701993 ms (missed cycles : 2).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341080 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341080 ms (missed cycles : 2).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882502 ms (missed cycles : 2). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882502 ms (missed cycles : 2).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131056 ms (missed cycles : 2). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131056 ms (missed cycles : 2).[0m ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670622 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670622 ms (missed cycles : 2).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822564 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822564 ms (missed cycles : 2).[0m ×2 + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131907 ms (missed cycles : 2). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131907 ms (missed cycles : 2).[0m ×2 + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672547 ms (missed cycles : 2). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672547 ms (missed cycles : 2).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127804 ms (missed cycles : 2). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127804 ms (missed cycles : 2).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835822 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835822 ms (missed cycles : 2).[0m ×2 + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715758 ms (missed cycles : 3). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715758 ms (missed cycles : 3).[0m ×2 + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666791 ms (missed cycles : 2). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666791 ms (missed cycles : 2).[0m ×2 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681077 ms (missed cycles : 2). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681077 ms (missed cycles : 2).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826540 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826540 ms (missed cycles : 2).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007402 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007402 ms (missed cycles : 2).[0m ×2 + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709639 ms (missed cycles : 2). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709639 ms (missed cycles : 2).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959944 ms (missed cycles : 2). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959944 ms (missed cycles : 2).[0m ×2 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961115 ms (missed cycles : 2). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961115 ms (missed cycles : 2).[0m ×2 + 41.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132209 ms (missed cycles : 2). + 41.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132209 ms (missed cycles : 2).[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761015 ms (missed cycles : 2). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761015 ms (missed cycles : 2).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907099 ms (missed cycles : 2). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907099 ms (missed cycles : 2).[0m ×2 + 44.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909678.53193426 seconds ×3 + 44.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 45.03sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797812 ms (missed cycles : 2). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797812 ms (missed cycles : 2).[0m ×2 + 45.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792909679.17371702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 45.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.28sINFOros2_control_node[2026-10-25 06:27:59.328] [info] Received new action goal ×2 + 45.28sINFOros2_control_node[2026-10-25 06:27:59.328] [info] Accepted new action goal ×2 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864338 ms (missed cycles : 2). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864338 ms (missed cycles : 2).[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098371 ms (missed cycles : 2). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098371 ms (missed cycles : 2).[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.8s	3 warnings · 342 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 7.09sINFOros2_control_node[2026-10-25 06:26:23.595] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-10-25 06:26:23.595] [info] Accepted new action goal ×2 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.24sINFOros2_control_node[2026-10-25 06:26:26.745] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-10-25 06:26:26.745] [info] Accepted new action goal ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.26sINFOros2_control_node[2026-10-25 06:26:29.769] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-10-25 06:26:29.769] [info] Accepted new action goal ×2 + 15.05sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.23sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 23.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.74sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.74sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.74sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.74sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.66sINFOros2_control_node[2026-10-25 06:26:41.159] [info] Received new action goal ×2 + 24.66sINFOros2_control_node[2026-10-25 06:26:41.159] [info] Accepted new action goal ×2 + 25.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.13sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 26.18sINFOros2_control_node[2026-10-25 06:26:42.682] [info] Received new action goal ×2 + 26.18sINFOros2_control_node[2026-10-25 06:26:42.682] [info] Accepted new action goal ×2 + 28.45sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 28.45sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.47sINFOros2_control_node[2026-10-25 06:26:44.969] [info] Received new action goal ×2 + 28.47sINFOros2_control_node[2026-10-25 06:26:44.969] [info] Accepted new action goal ×2 + 31.48sINFOros2_control_node[2026-10-25 06:26:47.989] [info] Received new action goal ×2 + 31.48sINFOros2_control_node[2026-10-25 06:26:47.989] [info] Accepted new action goal ×2 + 34.08sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 34.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.13sINFOros2_control_node[2026-10-25 06:26:50.633] [info] Received new action goal ×2 + 34.13sINFOros2_control_node[2026-10-25 06:26:50.633] [info] Accepted new action goal ×2 + 44.79sINFOros2_control_node[2026-10-25 06:27:01.298] [info] Received new action goal ×2 + 44.79sINFOros2_control_node[2026-10-25 06:27:01.298] [info] Accepted new action goal ×2 + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.404873 ms (missed cycles : 7). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.404873 ms (missed cycles : 7).[0m ×2 + 45.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792909622.45684409 seconds ×3 + 46.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.53sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.74sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792909623.24243021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.76sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 47.78sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.79sINFOros2_control_node[2026-10-25 06:27:04.298] [info] Received new action goal ×2 + 47.79sINFOros2_control_node[2026-10-25 06:27:04.298] [info] Accepted new action goal ×2
✓ passed	Record Surface Coverage Demo	record_surface_coverage_demo.xml	34.1s	19 warnings · 311 info
+ 0.00sINFOros2_control_node[2026-10-25 06:29:11.495] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-25 06:29:11.495] [info] Accepted new action goal ×2 + 0.50sINFOros2_control_node[2026-10-25 06:29:11.997] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-10-25 06:29:11.997] [info] Accepted new action goal ×2 + 2.57sINFOros2_control_node[2026-10-25 06:29:14.068] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-10-25 06:29:14.068] [info] Accepted new action goal ×2 + 3.37sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 3.37sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1792909754.87107158 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.92sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.92sINFOobjective_server_nodecaller: ×8 + 3.92sINFOobjective_server_nodetype: 0 ×8 + 3.92sINFOobjective_server_nodename: "" ×8 + 3.92sINFOobjective_server_nodeinstance_id: "" ×8 + 3.92sINFOobjective_server_node ×8 + 4.03sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792909755.52523088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-10-25 06:29:16.549] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-10-25 06:29:16.549] [info] Accepted new action goal ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001834 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001834 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795439 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795439 ms (missed cycles : 2).[0m ×2 + 8.47sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 9.24sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.26sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.32sINFOros2_control_node[2026-10-25 06:29:20.812] [info] Received new action goal ×2 + 9.32sINFOros2_control_node[2026-10-25 06:29:20.812] [info] Accepted new action goal ×2 + 19.16sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 19.17sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.18sINFOros2_control_node[2026-10-25 06:29:30.673] [info] Received new action goal ×2 + 19.18sINFOros2_control_node[2026-10-25 06:29:30.673] [info] Accepted new action goal ×2 + 20.06sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903675 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903675 ms (missed cycles : 3).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031102 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031102 ms (missed cycles : 2).[0m ×2 + 23.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 24.17sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.19sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.23sINFOros2_control_node[2026-10-25 06:29:35.728] [info] Received new action goal ×2 + 24.23sINFOros2_control_node[2026-10-25 06:29:35.728] [info] Accepted new action goal ×2 + 33.67sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 33.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.69sINFOros2_control_node[2026-10-25 06:29:45.182] [info] Received new action goal ×2 + 33.69sINFOros2_control_node[2026-10-25 06:29:45.182] [info] Accepted new action goal ×2 + 37.47sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 38.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 38.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 38.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 38.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 38.95sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 39.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.03sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 39.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 39.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 39.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 39.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.78sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 39.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 39.80sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 39.80sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	22.1s	69 warnings · 16138 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2657 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2657 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5314 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5314 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132209 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132209 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761015 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761015 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907099 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907099 ms (missed cycles : 2).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909678.53193426 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797812 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797812 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792909679.17371702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-10-25 06:27:59.328] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-25 06:27:59.328] [info] Accepted new action goal ×2 + 5.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.40sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864338 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864338 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098371 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098371 ms (missed cycles : 2).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552681 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552681 ms (missed cycles : 2).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779906 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779906 ms (missed cycles : 2).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292079 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292079 ms (missed cycles : 2).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114119 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114119 ms (missed cycles : 2).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142972 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142972 ms (missed cycles : 2).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820002 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820002 ms (missed cycles : 2).[0m ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359410 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359410 ms (missed cycles : 2).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732988 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732988 ms (missed cycles : 2).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686413 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686413 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890878 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890878 ms (missed cycles : 2).[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982471 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982471 ms (missed cycles : 2).[0m ×2 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779539 ms (missed cycles : 2). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779539 ms (missed cycles : 2).[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791626 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791626 ms (missed cycles : 2).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2).[0m ×2 + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2).[0m ×2 + 25.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909700.66299653 seconds ×3 + 26.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 26.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792909701.42334700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.37sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 26.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.38sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Received new action goal ×2 + 26.38sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Accepted new action goal ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2).[0m ×2
✓ passed	Live Surface Coverage Demo	live_surface_coverage_demo.xml	19.9s	3 errors · 8 warnings · 189 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00340254 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.38sINFOros2_control_node[2026-10-25 06:25:41.242] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-10-25 06:25:41.242] [info] Accepted new action goal ×2 + 0.81sINFOros2_control_node[2026-10-25 06:25:41.674] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-10-25 06:25:41.674] [info] Accepted new action goal ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.52sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.52sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.52sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909543.38824010 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792909544.23147607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-10-25 06:25:45.255] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-10-25 06:25:45.255] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912986 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912986 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802365 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802365 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.88sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.90sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.94sINFOros2_control_node[2026-10-25 06:25:49.806] [info] Received new action goal ×2 + 8.94sINFOros2_control_node[2026-10-25 06:25:49.806] [info] Accepted new action goal ×2 + 18.35sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.45sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 18.46sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.48sINFOros2_control_node[2026-10-25 06:25:59.340] [info] Received new action goal ×2 + 18.48sINFOros2_control_node[2026-10-25 06:25:59.340] [info] Accepted new action goal ×2 + 22.39sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792909563.25504136 seconds ×3 + 22.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.92sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792909563.94342947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 23.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.19sINFOros2_control_node[2026-10-25 06:26:04.057] [info] Received new action goal ×2 + 23.19sINFOros2_control_node[2026-10-25 06:26:04.057] [info] Accepted new action goal ×2 + 25.67sINFOros2_control_node[2026-10-25 06:26:06.534] [info] Received new action goal ×2 + 25.67sINFOros2_control_node[2026-10-25 06:26:06.534] [info] Accepted new action goal ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	13.2s	3 errors · 31 warnings · 268 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 1.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.86sINFOobjective_server_nodecaller: ×8 + 1.86sINFOobjective_server_nodetype: 0 ×8 + 1.86sINFOobjective_server_nodename: "" ×8 + 1.86sINFOobjective_server_nodeinstance_id: "" ×8 + 1.86sINFOobjective_server_node ×8 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543639 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543639 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732280 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732280 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604981 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604981 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166417 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166417 ms (missed cycles : 4).[0m ×2 + 9.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 9.68sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.80sINFOobjective_server_nodeFound path in 1 iterations (0.00347524 s). ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 10.04sINFOros2_control_node[2026-10-25 06:25:04.630] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-10-25 06:25:04.630] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450382 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450382 ms (missed cycles : 3).[0m ×2 + 12.35sINFOros2_control_node[2026-10-25 06:25:06.932] [info] Received new action goal ×2 + 12.35sINFOros2_control_node[2026-10-25 06:25:06.932] [info] Accepted new action goal ×2 + 13.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.01sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 14.01sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 15.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 15.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 16.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.77sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 16.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 16.79sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 16.79sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.8s	3 warnings · 203 info
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792909563.25504136 seconds ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load and Execute Joint Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792909563.94342947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.80sINFOros2_control_node[2026-10-25 06:26:04.057] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-10-25 06:26:04.057] [info] Accepted new action goal ×2 + 3.28sINFOros2_control_node[2026-10-25 06:26:06.534] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-10-25 06:26:06.534] [info] Accepted new action goal ×2 + 11.85sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792909575.10508633 seconds ×3 + 12.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.39sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792909575.70070291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2).[0m ×2 + 12.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792909575.77086973 seconds ×3 + 13.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.25sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.43sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 13.43sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 15.43sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	9 warnings · 220 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-10-25 06:27:01.298] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-10-25 06:27:01.298] [info] Accepted new action goal ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.404873 ms (missed cycles : 7). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.404873 ms (missed cycles : 7).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792909622.45684409 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Push Button" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792909623.24243021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.91sINFOros2_control_node[2026-10-25 06:27:04.298] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-25 06:27:04.298] [info] Accepted new action goal ×2 + 7.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.61sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.61sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.61sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.61sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.05sINFOros2_control_node[2026-10-25 06:27:10.440] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-10-25 06:27:10.440] [info] Accepted new action goal ×2 + 13.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792909634.04493022 seconds ×3 + 14.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.20sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792909634.65707064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 14.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.44sINFOros2_control_node[2026-10-25 06:27:14.831] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-10-25 06:27:14.831] [info] Accepted new action goal ×2 + 15.71sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947782 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947782 ms (missed cycles : 2).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081105 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081105 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.5s	77 errors · 19 warnings · 473 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909801.39114404 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909801.99660110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909803.46688867 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792909804.08052993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792909804.08247685 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792909804.68481803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792909804.71578145 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909805.32203317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909806.41219831 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4).[0m ×2 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 10.96sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.98sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.99sERRORweb_video_auth_proxy-25process has died [pid 8520, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.99sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.99sERRORweb_bridge_auth_proxy-24process has died [pid 8519, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.99sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.99sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 11.00sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 11.00sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.01sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.01sINFOvideo_server-23process has finished cleanly [pid 8518] ×2 + 11.01sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.02sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.02sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.03sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.03sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.04sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.04sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.05sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.05sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.06sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.06sINFOcontroller_managerShutdown request received.... + 11.06sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.06sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.06sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.06sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.06sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.06sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.06sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.06sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.06sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.06sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.06sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.06sINFOvideo_server2026/10/25 06:30:12 INF shutting down gracefully ×2 + 11.06sINFOvideo_server2026/10/25 06:30:12 INF [WebRTC] closing ×2 + 11.06sINFOvideo_server2026/10/25 06:30:12 INF [RTSP] closing ×2 + 11.06sINFOvideo_server2026/10/25 06:30:12 INF waiting for running hooks ×2 + 11.06sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.06sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.06sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOcontroller_managerShutting down the controller manager. + 11.06sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.06sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.06sERRORmove_groupStack trace (most recent call last) in thread 8921: ×2 + 11.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.06sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.07sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.07sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.07sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.07sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.07sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f81685c6cc3, in __clone ×2 + 11.07sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8168539b83, in ×2 + 11.07sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f81687cadb3, in ×2 + 11.07sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f8168f34e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.07sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8168b5e620, in rclcpp::Rate::sleep() ×2 + 11.07sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8168aa0d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.07sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8168a62087, in ×2 + 11.07sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8168799390, in __cxa_throw ×2 + 11.07sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8168783a54, in std::terminate() ×2 + 11.07sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f81687990d9, in ×2 + 11.07sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8168783ff4, in ×2 + 11.07sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f81684c58fe, in abort ×2 + 11.07sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f81684e227d, in raise ×2 + 11.07sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f816853bc0c, in pthread_kill ×2 + 11.07sERRORmove_groupAborted (Signal sent by tkill() 8427 0) ×2 + 11.07sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.08sERRORmove_group-9process has died [pid 8427, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_0fobnugi --params-file /tmp/launch_params_fvz2awx6 --params-file /tmp/launch_params_d02r4htf --params-file /tmp/launch_params_qsd6odoy --params-file /tmp/launch_params_oz9zaccr --params-file /tmp/launch_params_xmnpqo32']. ×2 + 11.27sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.27sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.27sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.03sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.03sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.03sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.03sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.03sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 12.03sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.03sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.03sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.03sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.03sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.03sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.03sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.03sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.03sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.03sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.03sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.03sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 12.03sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 12.03sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 12.03sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 12.03sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 12.03sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 12.03sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 12.03sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.03sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 12.03sINFOtf_visualization_relayrclpy.spin(node) ×2 + 12.03sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.03sINFOtf_visualization_relayexecutor.spin_once() ×2 + 12.03sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.03sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.03sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.03sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.03sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.03sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.03sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 12.03sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.03sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.03sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 12.03sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.04sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8517] ×2 + 12.04sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.08sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8431] ×2 + 12.08sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8430] ×2 + 12.08sERRORjoint_state_visualization_relay-21process has died [pid 8516, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay --ros-args --params-file /tmp/launch_params_msj351mt']. ×2 + 12.08sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.09sERRORtf_visualization_relay-20process has died [pid 8515, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_xey23_vb']. ×2 + 12.09sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.12sINFOui_teleop_bridge-18process has finished cleanly [pid 8436] ×2 + 12.12sINFOwaypoint_manager_node-11process has finished cleanly [pid 8429] ×2 + 12.12sINFOexecute_objective_bridge-17process has finished cleanly [pid 8435] ×2 + 12.14sINFOparameter_manager_node-10process has finished cleanly [pid 8428] ×2 + 12.17sINFOcomponent_container_mt-16process has finished cleanly [pid 8434] ×2 + 12.21sINFOobjective_server_node[0;m[2026-10-25 06:30:13.592] [moveit_pro_license] [critical] ×2 + 12.21sINFOobjective_server_node************************************************* ×4 + 12.21sINFOobjective_server_node* MoveIt Pro License ×2 + 12.21sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.51sINFOobjective_server_node_main-14process has finished cleanly [pid 8432] ×2 + 12.52sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.13sINFOweb_bridge-19process has finished cleanly [pid 8437] ×2 + 13.13sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.21sINFOcomponent_container_mt-15process has finished cleanly [pid 8433] ×2 + 13.73sINFOros2_control_node-1process has finished cleanly [pid 8390] ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.1s	20 warnings · 2594 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×399 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×399 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×798 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909700.66299653 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.94sINFOobjective_server_nodecaller: ×4 + 3.94sINFOobjective_server_nodetype: 0 ×4 + 3.94sINFOobjective_server_nodename: "" ×4 + 3.94sINFOobjective_server_nodeinstance_id: "" ×4 + 3.94sINFOobjective_server_node ×4 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792909701.42334700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922764 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922764 ms (missed cycles : 2).[0m ×2 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.66sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 1 iterations (0.00487295 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X__________________X] ×2 + 8.36sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.37sINFOros2_control_node[2026-10-25 06:28:25.741] [info] Received new action goal ×2 + 8.37sINFOros2_control_node[2026-10-25 06:28:25.741] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566223 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566223 ms (missed cycles : 3).[0m ×2 + 8.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 10.68sINFOros2_control_node[2026-10-25 06:28:28.043] [info] Received new action goal ×2 + 10.68sINFOros2_control_node[2026-10-25 06:28:28.043] [info] Accepted new action goal ×2 + 12.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.33sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 12.33sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 13.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 14.19sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.09sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.18sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 15.36sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 17.27sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	9 errors · 12 warnings · 214 info
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792909529.94179726 seconds ×3 + 0.30sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792909533.04477334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×4 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.61sINFOros2_control_node[2026-10-25 06:25:33.249] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-10-25 06:25:33.249] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031797 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031797 ms (missed cycles : 2).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501114 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501114 ms (missed cycles : 3).[0m ×2 + 7.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105160 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105160 ms (missed cycles : 2).[0m ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 1 iterations (0.00402289 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.69sINFOros2_control_node[2026-10-25 06:25:38.333] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-10-25 06:25:38.333] [info] Accepted new action goal ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 11.37sINFOobjective_server_nodeFound path in 1 iterations (0.00340254 s). ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.60sINFOros2_control_node[2026-10-25 06:25:41.242] [info] Received new action goal ×2 + 11.60sINFOros2_control_node[2026-10-25 06:25:41.242] [info] Accepted new action goal ×2 + 12.03sINFOros2_control_node[2026-10-25 06:25:41.674] [info] Received new action goal ×2 + 12.03sINFOros2_control_node[2026-10-25 06:25:41.674] [info] Accepted new action goal ×2 + 13.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.74sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.74sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.74sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909543.38824010 seconds ×3 + 14.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.46sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.59sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792909544.23147607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.61sINFOros2_control_node[2026-10-25 06:25:45.255] [info] Received new action goal ×2 + 15.61sINFOros2_control_node[2026-10-25 06:25:45.255] [info] Accepted new action goal ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.0s	3 errors · 3 warnings · 137 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909722.88822842 seconds ×3 + 14.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.11sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.17sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792909723.51885748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233118 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233118 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 14.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.48sINFOros2_control_node[2026-10-25 06:28:43.831] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-10-25 06:28:43.831] [info] Accepted new action goal ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 125 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792909733.42395067 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792909734.04455233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-10-25 06:28:54.169] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-10-25 06:28:54.169] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909744.38489270 seconds ×3 + 11.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.50sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.56sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1792909744.98807335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.72sINFOros2_control_node[2026-10-25 06:29:05.143] [info] Received new action goal ×2 + 11.72sINFOros2_control_node[2026-10-25 06:29:05.143] [info] Accepted new action goal ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	9 errors · 15 warnings · 193 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.65sINFOobjective_server_nodecaller: ×4 + 2.65sINFOobjective_server_nodetype: 0 ×4 + 2.65sINFOobjective_server_nodename: "" ×4 + 2.65sINFOobjective_server_nodeinstance_id: "" ×4 + 2.65sINFOobjective_server_node ×4 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867537 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867537 ms (missed cycles : 4).[0m ×2 + 6.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 7.14sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870867 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870867 ms (missed cycles : 2).[0m ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.20sINFOobjective_server_nodeFound path in 0 iterations (1.81e-07 s). ×2 + 7.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.30sINFOobjective_server_nodeFound path in 1 iterations (0.00394176 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.05sINFOros2_control_node[2026-10-25 06:25:27.377] [info] Received new action goal ×2 + 8.05sINFOros2_control_node[2026-10-25 06:25:27.377] [info] Accepted new action goal ×2 + 10.32sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.58sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.58sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.59sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792909529.94179726 seconds ×3 + 10.62sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 12.23sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Using Yaml" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.62sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.72sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792909533.04477334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 13.93sINFOros2_control_node[2026-10-25 06:25:33.249] [info] Received new action goal ×2 + 13.93sINFOros2_control_node[2026-10-25 06:25:33.249] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031797 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031797 ms (missed cycles : 2).[0m ×2
✓ passed	3 Waypoints Pick and Place with AprilTags	3_waypoint_pick_and_place_apriltags.xml	10.9s	6 errors · 25 warnings · 204 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.12sINFOros2_control_node[2026-10-25 06:24:44.463] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-25 06:24:44.463] [info] Accepted new action goal ×2 + 0.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.65sINFOros2_control_node[2026-10-25 06:24:44.988] [info] Got request to cancel active goal. ×2 + 0.65sINFOros2_control_node[2026-10-25 06:24:44.988] [info] Canceling active goal... ×2 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909485.00555968 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place with AprilTags" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.20sINFOobjective_server_nodecaller: ×6 + 1.20sINFOobjective_server_nodetype: 0 ×6 + 1.20sINFOobjective_server_nodename: "" ×6 + 1.20sINFOobjective_server_nodeinstance_id: "" ×6 + 1.20sINFOobjective_server_node ×6 + 1.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792909485.64298010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.56sINFOros2_control_node[2026-10-25 06:24:45.898] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-10-25 06:24:45.898] [info] Accepted new action goal ×2 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.84sINFOros2_control_node[2026-10-25 06:24:48.177] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-10-25 06:24:48.177] [info] Accepted new action goal ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777312 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777312 ms (missed cycles : 5).[0m ×2 + 7.81sWARNros2_control_nodeCamera render tick took 1.35 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880935 ms (missed cycles : 5). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880935 ms (missed cycles : 5).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 11.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 11.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 12.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.10sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 12.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 12.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.16sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 13.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.17sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 13.17sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.9s	3 errors · 14 warnings · 388 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.63sINFOobjective_server_nodecaller: ×12 + 0.63sINFOobjective_server_nodetype: 0 ×12 + 0.63sINFOobjective_server_nodename: "" ×12 + 0.63sINFOobjective_server_nodeinstance_id: "" ×12 + 0.63sINFOobjective_server_node ×12 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2 + 5.64sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.64sINFOros2_control_node[2026-10-25 06:29:54.610] [info] Received new action goal ×2 + 5.64sINFOros2_control_node[2026-10-25 06:29:54.610] [info] Accepted new action goal ×2 + 5.64sINFOros2_control_node[2026-10-25 06:29:54.610] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.42sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Got request to cancel active goal. ×2 + 12.42sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Canceling active goal... ×2 + 12.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909801.39114404 seconds ×3 + 12.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.97sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909801.99660110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4).[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909803.46688867 seconds ×3 + 15.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.04sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792909804.08052993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.11sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.11sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.11sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792909804.08247685 seconds ×3 + 15.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 15.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792909804.68481803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792909804.71578145 seconds ×3
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.8s	3 errors · 3 warnings · 426 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.72sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2 + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.24sINFOros2_control_node[2026-10-25 06:24:37.473] [info] Received new action goal ×2 + 6.24sINFOros2_control_node[2026-10-25 06:24:37.473] [info] Accepted new action goal ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 9.89sINFOros2_control_node[2026-10-25 06:24:41.122] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-10-25 06:24:41.123] [info] Accepted new action goal ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.23sINFOros2_control_node[2026-10-25 06:24:44.463] [info] Received new action goal ×2 + 13.23sINFOros2_control_node[2026-10-25 06:24:44.463] [info] Accepted new action goal ×2 + 13.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.75sINFOros2_control_node[2026-10-25 06:24:44.988] [info] Got request to cancel active goal. ×2 + 13.75sINFOros2_control_node[2026-10-25 06:24:44.988] [info] Canceling active goal... ×2 + 13.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909485.00555968 seconds ×3 + 13.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place with AprilTags" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792909485.64298010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 14.66sINFOros2_control_node[2026-10-25 06:24:45.898] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-10-25 06:24:45.898] [info] Accepted new action goal ×2 + 16.92sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 16.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.94sINFOros2_control_node[2026-10-25 06:24:48.177] [info] Received new action goal ×2 + 16.94sINFOros2_control_node[2026-10-25 06:24:48.177] [info] Accepted new action goal ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.8s	3 errors · 3 warnings · 222 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.19sINFOobjective_server_nodecaller: ×6 + 2.19sINFOobjective_server_nodetype: 0 ×6 + 2.19sINFOobjective_server_nodename: "" ×6 + 2.19sINFOobjective_server_nodeinstance_id: "" ×6 + 2.19sINFOobjective_server_node ×6 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.49sINFOros2_control_node[2026-10-25 06:25:14.726] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-10-25 06:25:14.726] [info] Accepted new action goal ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 8.84sINFOros2_control_node[2026-10-25 06:25:17.074] [info] Received new action goal ×2 + 8.84sINFOros2_control_node[2026-10-25 06:25:17.074] [info] Accepted new action goal ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 11.19sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 11.19sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 13.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.16sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 13.16sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 13.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 13.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 14.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.02sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 14.02sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 3 warnings · 129 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909722.88822842 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792909723.51885748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233118 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233118 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.95sINFOros2_control_node[2026-10-25 06:28:43.831] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-10-25 06:28:43.831] [info] Accepted new action goal ×2 + 4.96sINFOros2_control_node[2026-10-25 06:28:47.839] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-10-25 06:28:47.839] [info] Accepted new action goal ×2 + 10.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792909733.42395067 seconds ×3 + 11.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.08sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792909734.04455233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.29sINFOros2_control_node[2026-10-25 06:28:54.169] [info] Received new action goal ×2 + 11.29sINFOros2_control_node[2026-10-25 06:28:54.169] [info] Accepted new action goal ×2 + 13.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	Record Square Trajectory	record_square_trajectory.xml	10.5s	3 errors · 147 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909744.38489270 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1792909744.98807335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.75sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.76sINFOros2_control_node[2026-10-25 06:29:05.143] [info] Received new action goal ×2 + 0.76sINFOros2_control_node[2026-10-25 06:29:05.143] [info] Accepted new action goal ×2 + 5.09sINFOros2_control_node[2026-10-25 06:29:09.474] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-10-25 06:29:09.474] [info] Accepted new action goal ×2 + 7.11sINFOros2_control_node[2026-10-25 06:29:11.495] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-10-25 06:29:11.495] [info] Accepted new action goal ×2 + 7.61sINFOros2_control_node[2026-10-25 06:29:11.997] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-10-25 06:29:11.997] [info] Accepted new action goal ×2 + 9.68sINFOros2_control_node[2026-10-25 06:29:14.068] [info] Received new action goal ×2 + 9.68sINFOros2_control_node[2026-10-25 06:29:14.068] [info] Accepted new action goal ×2 + 10.49sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 10.49sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1792909754.87107158 seconds ×3 + 11.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.03sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.14sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792909755.52523088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.16sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 12.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.17sINFOros2_control_node[2026-10-25 06:29:16.549] [info] Received new action goal ×2 + 12.17sINFOros2_control_node[2026-10-25 06:29:16.549] [info] Accepted new action goal ×2
✓ passed	Look at Table	look_at_table.xml	3.9s	3 warnings · 205 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792909575.10508633 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792909575.70070291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792909575.77086973 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.13sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.21sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.62sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 5.62sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.1s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909801.39114404 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909801.99660110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909803.46688867 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792909804.08052993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792909804.08247685 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792909804.68481803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792909804.71578145 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909805.32203317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909806.41219831 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4).[0m ×2 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Close Gripper	close_gripper.xml	1.5s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.8s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 17 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	125 info
+ 0.00sINFOros2_control_node[2026-10-25 06:25:06.932] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-25 06:25:06.932] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.45sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	3 warnings · 138 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792909575.10508633 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792909575.70070291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792909575.77086973 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3
✓ passed	Open Gripper	open_gripper.xml	0.7s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909801.39114404 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909801.99660110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909803.46688867 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792909804.08052993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792909804.08247685 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792909804.68481803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792909804.71578145 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909805.32203317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909806.41219831 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4).[0m ×2 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 17 warnings · 213 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909801.39114404 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909801.99660110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909803.46688867 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792909804.08052993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792909804.08247685 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792909804.68481803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792909804.71578145 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792909805.32203317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909523 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792909806.41219831 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013918 ms (missed cycles : 4).[0m ×2 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.1s	3 errors · 14 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 1.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 17 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 17 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335223 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 14 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 1.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 14 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 1.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 14 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407869 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389052 ms (missed cycles : 4).[0m ×2 + 1.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909495.89362168 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Add Table to Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792909496.50844288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792909496.63860250 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528651 ms (missed cycles : 5).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792909497.31918859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:24:57.513] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015224 ms (missed cycles : 4).[0m ×2
− skipped	Collect Training Data with Behaviors	collect_training_data_with_behaviors.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	121 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-25 06:25:08.594] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792909509.89034581 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Previous Obstacles" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792909510.50762963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792909510.59778976 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cycle Between Waypoints" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792909511.25240374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-25 06:25:11.377] [info] Accepted new action goal ×2
− skipped	Detect AprilTags on Table	detect_apriltags_on_table.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Get Fresh Point Cloud	get_fresh_point_cloud.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 3 warnings · 79 info
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-25 06:25:19.424] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-10-25 06:25:21.392] [info] Canceling active goal... ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909521.40587330 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Grasp Pose Tuning With April Tag" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792909522.04985642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-25 06:25:22.253] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265998 ms (missed cycles : 2).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 100 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00340254 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOros2_control_node[2026-10-25 06:25:41.242] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-10-25 06:25:41.242] [info] Accepted new action goal ×2 + 0.81sINFOros2_control_node[2026-10-25 06:25:41.674] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-10-25 06:25:41.674] [info] Accepted new action goal ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.52sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.52sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.52sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909543.38824010 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Live Surface Coverage Demo" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792909544.23147607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-10-25 06:25:45.255] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-10-25 06:25:45.255] [info] Accepted new action goal ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	3 warnings · 138 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792909575.10508633 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Load MuJoCo Robot State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792909575.70070291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202566 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792909575.77086973 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
− skipped	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.0s	103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	103 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Look at Table" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792909576.56689787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-10-25 06:26:16.681] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792909578.68705177 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move Flasks to Burners" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792909580.31081891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-25 06:26:20.728] [info] Accepted new action goal ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	6 warnings · 84 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792909634.04493022 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792909634.65707064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.79sINFOros2_control_node[2026-10-25 06:27:14.831] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-10-25 06:27:14.831] [info] Accepted new action goal ×2 + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947782 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947782 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081105 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081105 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	12 warnings · 2482 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×399 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×399 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×798 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909700.66299653 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792909701.42334700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	12 warnings · 2482 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×399 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×399 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×798 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909700.66299653 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792909701.42334700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2).[0m ×2
− skipped	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	0.0s	12 warnings · 2482 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×399 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×399 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×798 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909700.66299653 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792909701.42334700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	12 warnings · 2482 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×399 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×399 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×798 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909700.66299653 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792909701.42334700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	12 warnings · 2482 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×399 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×399 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×798 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697576 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742230 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809601 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792909700.66299653 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Pick April Tag Labeled Object With Approval" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792909701.42334700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-25 06:28:21.617] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192519 ms (missed cycles : 2).[0m ×2
− skipped	Pick from AprilTag Detections	pick_from_apriltag_detections.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick up Object	pick_up_cube.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose	place_at_pose.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place Object	place_object.xml	0.0s	76 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-10-25 06:28:29.697] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1792909710.99355602 seconds ×3 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan and Save Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792909712.54774261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-10-25 06:28:32.732] [info] Accepted new action goal ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 3 warnings · 61 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909722.88822842 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Playback Square Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.57sINFOobjective_server_nodecaller: ×2 + 0.57sINFOobjective_server_nodetype: 0 ×2 + 0.57sINFOobjective_server_nodename: "" ×2 + 0.57sINFOobjective_server_nodeinstance_id: "" ×2 + 0.57sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792909723.51885748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233118 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233118 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.95sINFOros2_control_node[2026-10-25 06:28:43.831] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-10-25 06:28:43.831] [info] Accepted new action goal ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	64 info
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792909733.42395067 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Record and Replay Scanning Motion" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792909734.04455233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-10-25 06:28:54.169] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-10-25 06:28:54.169] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
− skipped	Select Region and Record Coverage	select_region_and_record_coverage.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
− skipped	Select Region for Coverage Path	select_region_for_coverage_path.xml	0.0s	3 warnings · 191 info
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792909788.96749449 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Robot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792909789.83026218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524504 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792909789.90043640 seconds ×3 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Save Robot Joint State" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792909790.50141025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792909790.52289009 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Stationary Admittance" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792909791.17635846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 2.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-10-25 06:29:51.290] [info] Accepted new action goal ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 11 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909801.39114404 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909801.99660110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909803.46688867 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792909804.08052993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792909804.08247685 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792909804.68481803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792909804.71578145 seconds ×3
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 11 warnings · 188 info
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-25 06:30:01.386] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1792909801.39114404 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.55sINFOobjective_server_nodecaller: ×6 + 0.55sINFOobjective_server_nodetype: 0 ×6 + 0.55sINFOobjective_server_nodename: "" ×6 + 0.55sINFOobjective_server_nodeinstance_id: "" ×6 + 0.55sINFOobjective_server_node ×6 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792909801.99660110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123029 ms (missed cycles : 2).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746395 ms (missed cycles : 4).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792909803.46688867 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector and String Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792909804.08052993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.70sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792909804.08247685 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Visualize Grasp Link" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792909804.68481803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792909804.71578145 seconds ×3

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	12.4s	29 warnings · 767 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-25-06-24-17-342864-18a5b8bd8019-8342 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.69sINFOcontroller_managerupdate rate is 600 Hz + 0.69sINFOcontroller_managerOverruns handling is : enabled + 0.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.69sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327432 ms (missed cycles : 4). + 0.88sINFOros2_control_node-1process started with pid [8390] ×2 + 0.88sINFOmove_group-9process started with pid [8427] ×2 + 0.88sINFOparameter_manager_node-10process started with pid [8428] ×2 + 0.88sINFOwaypoint_manager_node-11process started with pid [8429] ×2 + 0.88sINFOmove_joint_resampler_node-12process started with pid [8430] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [8431] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [8432] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [8433] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [8434] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [8435] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [8436] ×2 + 0.88sINFOweb_bridge-19process started with pid [8437] ×2 + 0.88sINFOtf_visualization_relay-20process started with pid [8515] ×2 + 0.88sINFOjoint_state_visualization_relay-21process started with pid [8516] ×2 + 0.88sINFOtf2_web_republisher_node-22process started with pid [8517] ×2 + 0.88sINFOvideo_server-23process started with pid [8518] ×2 + 0.88sINFOweb_bridge_auth_proxy-24process started with pid [8519] ×2 + 0.88sINFOweb_video_auth_proxy-25process started with pid [8520] ×2 + 0.89sINFOros2-2process started with pid [8391] ×2 + 0.89sINFOros2-3process started with pid [8392] ×2 + 0.89sINFOros2-4process started with pid [8393] ×2 + 0.89sINFOros2-5process started with pid [8394] ×2 + 0.89sINFOros2-6process started with pid [8395] ×2 + 0.89sINFOros2-7process started with pid [8396] ×2 + 0.89sINFOros2-8process started with pid [8397] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327432 ms (missed cycles : 4).[0m ×2 + 0.92sINFOcontroller_managerReceived robot description from topic. + 0.92sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF configuration loaded from /tmp/moveit-webrtc-zc_l5ikf/mediamtx.yml ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.64sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.66sINFOweb_video_auth_proxy2026-10-25 06:24:19,348 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.66sINFOweb_video_auth_proxy2026-10-25 06:24:19,350 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.68sINFOweb_bridge_auth_proxy2026-10-25 06:24:19,358 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.81sINFOmove_group[2026-10-25 06:24:19.496] [moveit_pro_license] [info] ×2 + 1.81sINFOmove_group************************************************* ×4 + 1.81sINFOmove_group* MoveIt Pro License ×2 + 1.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.05sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.05sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451723 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451723 ms (missed cycles : 2).[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOwaypoint_manager_node[2026-10-25 06:24:20.008] [moveit_pro_license] [info] ×2 + 2.32sINFOwaypoint_manager_node************************************************* ×4 + 2.32sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.32sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.40sINFOmove_group ×4 + 2.40sINFOmove_group[92mYou can start planning now![0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.56sINFOobjective_server_node[2026-10-25 06:24:21.250] [moveit_pro_license] [info] ×2 + 3.56sINFOobjective_server_node************************************************* ×4 + 3.56sINFOobjective_server_node* MoveIt Pro License ×2 + 3.56sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.68sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.69sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.83sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 3.84sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.84sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.84sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.84sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.84sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.84sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.84sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.84sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.84sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.84sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.84sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.90sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.90sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.90sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.90sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.90sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg + 3.90sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg [0m ×2 + 3.91sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.92sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134863 ms (missed cycles : 4). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134863 ms (missed cycles : 4).[0m ×2 + 3.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.07sINFOcomponent_container_mt[2026-10-25 06:24:21.761] [moveit_pro_license] [info] ×2 + 4.07sINFOcomponent_container_mt************************************************* ×4 + 4.07sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.07sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.11sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.20sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.20sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.20sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.20sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.20sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg + 4.20sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg [0m ×2 + 4.24sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.24sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.25sINFOforce_torque_sensor_broadcasterconfigure successful + 4.25sINFOros2_control_nodeconfigure successful[0m ×2 + 4.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.26sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.26sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.26sINFOros2-3process has finished cleanly [pid 8392] ×2 + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.35sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.35sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.39sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.39sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.39sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.60sINFOros2-2process has finished cleanly [pid 8391] ×2 + 4.70sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg + 4.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg [0m ×2 + 4.74sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.74sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.74sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.74sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.74sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.77sINFOros2_control_node[2026-10-25 06:24:22.461] [info] Controller state will be published at 20 Hz. ×2 + 4.77sINFOros2_control_node[2026-10-25 06:24:22.462] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385071 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385071 ms (missed cycles : 3).[0m ×2 + 5.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg + 5.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg [0m ×2 + 5.07sINFOros2-8process has finished cleanly [pid 8397] ×2 + 5.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg + 5.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg [0m ×2 + 5.41sINFOros2-5process has finished cleanly [pid 8394] ×2 + 5.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.43sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.43sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.43sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.44sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.78sINFOros2-4process has finished cleanly [pid 8393] ×2 + 5.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg + 5.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg [0m ×2 + 5.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.88sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.90sINFOros2_control_node[2026-10-25 06:24:23.595] [info] Controller state will be published at 10 Hz. ×2 + 5.91sINFOros2_control_node[2026-10-25 06:24:23.596] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753968 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753968 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.23sINFOros2-7process has finished cleanly [pid 8396] ×2 + 6.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg + 6.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5w1xmz9u --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2vvjrd_2 --params-file /tmp/launch_params__nnutfvg [0m ×2 + 6.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.34sINFOros2_control_node[2026-10-25 06:24:24.033] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.34sINFOros2_control_node[2026-10-25 06:24:24.033] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.37sINFOros2_control_node[2026-10-25 06:24:24.057] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.37sINFOros2_control_node[2026-10-25 06:24:24.057] [info] Controller state will be published at 50 Hz. ×2 + 6.37sINFOros2_control_node[2026-10-25 06:24:24.066] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.68sINFOros2-6process has finished cleanly [pid 8395] ×2 + 7.46sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.97sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 11.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 11.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 11.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 11.97sINFOobjective_server_nodecaller: ×10 + 11.97sINFOobjective_server_nodetype: 0 ×10 + 11.97sINFOobjective_server_nodename: "" ×10 + 11.97sINFOobjective_server_nodeinstance_id: "" ×10 + 11.97sINFOobjective_server_node ×10 + 12.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 12.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.58sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 13.86sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 14.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 15.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	3 warnings · 386 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
✓ passed	—	reset_planning_scene.xml	0.7s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.1s	3 warnings · 320 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	addtovector.xml	0.0s	9 warnings · 175 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-25-06-24-17-342864-18a5b8bd8019-8342 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.69sINFOcontroller_managerupdate rate is 600 Hz + 0.69sINFOcontroller_managerOverruns handling is : enabled + 0.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.69sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327432 ms (missed cycles : 4). + 0.88sINFOros2_control_node-1process started with pid [8390] ×2 + 0.88sINFOmove_group-9process started with pid [8427] ×2 + 0.88sINFOparameter_manager_node-10process started with pid [8428] ×2 + 0.88sINFOwaypoint_manager_node-11process started with pid [8429] ×2 + 0.88sINFOmove_joint_resampler_node-12process started with pid [8430] ×2 + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [8431] ×2 + 0.88sINFOobjective_server_node_main-14process started with pid [8432] ×2 + 0.88sINFOcomponent_container_mt-15process started with pid [8433] ×2 + 0.88sINFOcomponent_container_mt-16process started with pid [8434] ×2 + 0.88sINFOexecute_objective_bridge-17process started with pid [8435] ×2 + 0.88sINFOui_teleop_bridge-18process started with pid [8436] ×2 + 0.88sINFOweb_bridge-19process started with pid [8437] ×2 + 0.88sINFOtf_visualization_relay-20process started with pid [8515] ×2 + 0.88sINFOjoint_state_visualization_relay-21process started with pid [8516] ×2 + 0.88sINFOtf2_web_republisher_node-22process started with pid [8517] ×2 + 0.88sINFOvideo_server-23process started with pid [8518] ×2 + 0.88sINFOweb_bridge_auth_proxy-24process started with pid [8519] ×2 + 0.88sINFOweb_video_auth_proxy-25process started with pid [8520] ×2 + 0.89sINFOros2-2process started with pid [8391] ×2 + 0.89sINFOros2-3process started with pid [8392] ×2 + 0.89sINFOros2-4process started with pid [8393] ×2 + 0.89sINFOros2-5process started with pid [8394] ×2 + 0.89sINFOros2-6process started with pid [8395] ×2 + 0.89sINFOros2-7process started with pid [8396] ×2 + 0.89sINFOros2-8process started with pid [8397] ×2 + 0.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.91sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327432 ms (missed cycles : 4).[0m ×2 + 0.92sINFOcontroller_managerReceived robot description from topic. + 0.92sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF configuration loaded from /tmp/moveit-webrtc-zc_l5ikf/mediamtx.yml ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.10sINFOvideo_server2026/10/25 06:24:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.64sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.66sINFOweb_video_auth_proxy2026-10-25 06:24:19,348 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.66sINFOweb_video_auth_proxy2026-10-25 06:24:19,350 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.68sINFOweb_bridge_auth_proxy2026-10-25 06:24:19,358 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.81sINFOmove_group[2026-10-25 06:24:19.496] [moveit_pro_license] [info] ×2 + 1.81sINFOmove_group************************************************* ×4 + 1.81sINFOmove_group* MoveIt Pro License ×2 + 1.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.05sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.05sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451723 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451723 ms (missed cycles : 2).[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.32sINFOwaypoint_manager_node[2026-10-25 06:24:20.008] [moveit_pro_license] [info] ×2 + 2.32sINFOwaypoint_manager_node************************************************* ×4 + 2.32sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.32sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.40sINFOmove_group ×4 + 2.40sINFOmove_group[92mYou can start planning now![0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.56sINFOobjective_server_node[2026-10-25 06:24:21.250] [moveit_pro_license] [info] ×2 + 3.56sINFOobjective_server_node************************************************* ×4 + 3.56sINFOobjective_server_node* MoveIt Pro License ×2 + 3.56sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	createvector.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	request_teleoperation.xml	0.0s	3 warnings · 413 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.96sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	teleoperate.xml	0.0s	3 warnings · 383 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792909469.72258210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792909469.73280764 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_joint_state.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_pose.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_waypoint.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	track_moving_frame.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	3 warnings · 328 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2 + 7.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.15sINFOros2_control_node[2026-10-25 06:24:37.473] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-10-25 06:24:37.473] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	capture_calibration_sample.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	collect_calibration_samples.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2
− skipped	—	visualize_tf.xml	0.0s	3 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792909470.32604384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792909471.23621702 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.23sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792909471.85424066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792909471.91442537 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792909472.57405591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792909472.59420776 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792909473.18750572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792909473.33808112 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792909474.03558922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860178 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792909474.08575130 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "3 Waypoints Pick and Place" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792909474.80813956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.323e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-25 06:24:34.955] [info] Accepted new action goal ×2