118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.6s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.8s | 123 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.59sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.38sINFOobjective_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 ×2 + 3.39sINFOobjective_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 ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Received new action goal + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Received new action goal + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Accepted new action goal + 9.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.56sINFOros2_control_node[2026-06-04 21:10:56.237] [info] Received new action goal + 9.56sINFOros2_control_node[2026-06-04 21:10:56.237] [info] Accepted new action goal + 12.54sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 12.54sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.57sINFOros2_control_node[2026-06-04 21:10:59.250] [info] Received new action goal + 12.57sINFOros2_control_node[2026-06-04 21:10:59.250] [info] Accepted new action goal + 15.52sINFOobjective_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 ×4 + 17.27sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 2:10.004 of wall time (215/39744). Below 1% is expected on a non-realtime system.[0m + 22.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 23.24sINFOros2_control_node[2026-06-04 21:11:09.916] [info] Received new action goal + 23.24sINFOros2_control_node[2026-06-04 21:11:09.916] [info] Accepted new action goal + 24.40sINFOobjective_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 ×2 + 24.41sINFOobjective_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 ×2 + 24.70sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 24.70sINFOobjective_server_nodePath shortcutter: [X___________X] + 24.73sINFOros2_control_node[2026-06-04 21:11:11.409] [info] Received new action goal + 24.73sINFOros2_control_node[2026-06-04 21:11:11.409] [info] Accepted new action goal + 26.86sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 26.87sINFOobjective_server_nodePath shortcutter: [X__________X] + 26.88sINFOros2_control_node[2026-06-04 21:11:13.558] [info] Received new action goal + 26.88sINFOros2_control_node[2026-06-04 21:11:13.558] [info] Accepted new action goal + 29.91sINFOros2_control_node[2026-06-04 21:11:16.591] [info] Received new action goal + 29.91sINFOros2_control_node[2026-06-04 21:11:16.591] [info] Accepted new action goal + 32.51sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 32.51sINFOobjective_server_nodePath shortcutter: [X________________X] + 32.54sINFOros2_control_node[2026-06-04 21:11:19.221] [info] Received new action goal + 32.54sINFOros2_control_node[2026-06-04 21:11:19.221] [info] Accepted new action goal + 43.27sINFOros2_control_node[2026-06-04 21:11:29.948] [info] Received new action goal + 43.27sINFOros2_control_node[2026-06-04 21:11:29.948] [info] Accepted new action goal + 44.42sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780607491.10465336 seconds ×2 + 45.18sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780607491.85616446 seconds. ×2 + 45.55sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.55sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.39sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.40sINFOros2_control_node[2026-06-04 21:11:33.081] [info] Received new action goal + 46.40sINFOros2_control_node[2026-06-04 21:11:33.081] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 38.0s | 2 errors · 8965 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780607502.04650807 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607502.62154508 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.75sINFOros2_control_node[2026-06-04 21:11:42.795] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 21:11:42.795] [info] Accepted new action goal + 0.75sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.75sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.02sINFOobjective_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 ×2 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.10sINFOobjective_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 ×2 + 4.89sINFOjoint_trajectory_controllerReceived new action goal ×2227 + 4.89sINFOjoint_trajectory_controllerAccepted new action goal ×2227 + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2227 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2227 + 9.10sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.19sINFOjoint_trajectory_controllerGoal reached, success! ×5 + 9.19sINFOros2_control_nodeGoal reached, success![0m ×5 + 21.91sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.73% of iterations over budget over 3:10.005 of wall time (425/57992). Below 1% is expected on a non-realtime system.[0m + 23.88sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×2 + 38.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607540.06222892 seconds ×2 + 38.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607540.73115611 seconds. ×2 + 38.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 38.86sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 38.86sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 38.87sINFOros2_control_node[2026-06-04 21:12:20.916] [info] Received new action goal + 38.87sINFOros2_control_node[2026-06-04 21:12:20.916] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 35.5s | 2 errors · 76 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal + 31.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 31.16sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 31.16sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 31.24sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution" + 31.24sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution"[0m + 31.28sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 31.28sINFOobjective_server_nodePath shortcutter: [X___________X] + 31.29sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 31.30sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 31.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 31.36sINFOobjective_server_nodeFound path in 1 iterations (0.00337616 s). + 31.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 31.49sINFOros2_control_node[2026-06-04 21:09:43.400] [info] Received new action goal + 31.49sINFOros2_control_node[2026-06-04 21:09:43.400] [info] Accepted new action goal + 34.03sINFOros2_control_node[2026-06-04 21:09:45.943] [info] Received new action goal + 34.03sINFOros2_control_node[2026-06-04 21:09:45.943] [info] Accepted new action goal + 35.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 35.80sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Received new action goal + 35.80sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Accepted new action goal + 37.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607389.09637523 seconds ×2 + 37.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607389.68015337 seconds. ×2 + 37.84sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 37.84sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 37.87sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607389.78035545 seconds ×2 + 38.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607390.34309268 seconds. ×2 + 38.55sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 38.55sINFOobjective_server_nodePath shortcutter: [X_____________X] + 38.56sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Received new action goal + 38.56sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Accepted new action goal + 38.84sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 38.84sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 33.6s | 766 errors · 7185 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1509 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1126 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1509 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1126 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×934 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×934 + 0.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.812745) ×2 + 0.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.812745)[0m ×2 + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.872745) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.872745)[0m + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.902745) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.902745)[0m + 0.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.932745) + 0.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.932745)[0m + 0.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.952745) + 0.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.952745)[0m + 0.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.992745) + 0.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.992745)[0m + 0.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.012745) + 0.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.012745)[0m + 0.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.082745) + 0.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.092745) + 0.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.082745)[0m + 0.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.092745)[0m + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.142745) + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.152745) + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.142745)[0m + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.152745)[0m + 0.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.282745) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.282745)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.292745) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.292745)[0m + 0.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.402745) + 0.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.402745)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.442745) + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.442745)[0m + 0.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.462745) + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.472745) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.462745)[0m + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.472745)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.502745) + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.502745)[0m + 0.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.582745) + 0.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.582745)[0m + 0.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.602745) + 0.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.602745)[0m + 0.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.642745) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.642745)[0m + 1.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.792745) + 1.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.792745)[0m + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.812745) + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.822745) + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.832745) ×2 + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.812745)[0m + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.822745)[0m + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.832745)[0m ×2 + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.172745) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.172745)[0m + 1.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.222745) + 1.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.222745)[0m + 1.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.242745) + 1.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.242745)[0m + 1.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.262745) + 1.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.262745)[0m + 1.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.312745) + 1.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.312745)[0m + 1.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.452745) + 1.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.452745)[0m + 1.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.472745) + 1.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.482745) + 1.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.472745)[0m + 1.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.482745)[0m + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.502745) + 1.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.502745)[0m + 1.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.522745) + 1.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.522745)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.592745) + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.602745) + 1.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.592745)[0m + 1.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.602745)[0m + 1.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.632745) + 1.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.632745)[0m + 1.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.662745) + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.662745)[0m + 1.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.782745) + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.782745)[0m + 2.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.792745) + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.792745)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.892745) + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.892745)[0m + 2.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.922745) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.922745)[0m + 2.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.952745) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.952745)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.962745) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.962745)[0m + 2.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.982745) + 2.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.982745)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.082745) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.082745)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.102745) + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.102745)[0m + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.132745) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.132745)[0m + 2.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.162745) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.162745)[0m + 2.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.282745) + 2.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.282745)[0m + 2.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.302745) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.302745)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.322745) ×2 + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.332745) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.322745)[0m ×2 + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.332745)[0m + 2.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.562745) + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.562745)[0m + 2.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.672745) + 2.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.672745)[0m + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.702745) + 2.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.702745)[0m + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.712745) + 2.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.712745)[0m + 2.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.752745) + 2.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.752745)[0m + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.792745) + 3.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.792745)[0m + 3.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607564.81306934 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.822745) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.822745)[0m + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.882745) + 3.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.882745)[0m + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780607565.39982486 seconds. ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.79sINFOros2_control_node[2026-06-04 21:12:45.585] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-04 21:12:45.585] [info] Accepted new action goal + 9.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.10sINFOros2_control_node[2026-06-04 21:12:50.900] [info] Received new action goal + 9.10sINFOros2_control_node[2026-06-04 21:12:50.900] [info] Accepted new action goal + 11.48sINFOros2_control_node[2026-06-04 21:12:53.277] [info] Received new action goal + 11.48sINFOros2_control_node[2026-06-04 21:12:53.277] [info] Accepted new action goal + 14.19sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 14.19sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m + 14.69sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.69sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 16.58sINFOobjective_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 ×2 + 16.63sINFOobjective_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 ×2 + 19.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.524741) + 19.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.524741)[0m + 19.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.594741) + 19.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.594741)[0m + 19.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.604741) + 19.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.604741)[0m + 19.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.624741) + 19.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.624741)[0m + 20.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.854741) ×2 + 20.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.854741)[0m ×2 + 20.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.874741) ×2 + 20.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607581.874741)[0m ×2 + 20.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.064741) + 20.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.064741)[0m + 20.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.174741) + 20.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.174741)[0m + 20.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.224741) + 20.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.224741)[0m + 20.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.444741) + 20.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.444741)[0m + 20.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.464741) ×2 + 20.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.464741)[0m ×2 + 20.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.494741) + 20.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.494741)[0m + 20.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.514741) + 20.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.514741)[0m + 20.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.604741) ×2 + 20.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.604741)[0m ×2 + 20.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.634741) + 20.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.634741)[0m + 20.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.654741) + 20.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.664741) + 20.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.654741)[0m + 20.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.664741)[0m + 21.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.864741) + 21.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.864741)[0m + 21.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.884741) + 21.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.884741)[0m + 21.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.904741) + 21.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.904741)[0m + 21.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.934741) + 21.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607582.934741)[0m + 21.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.034741) + 21.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.034741)[0m + 21.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.044741) + 21.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.044741)[0m + 21.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.094741) + 21.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.094741)[0m + 21.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.114741) + 21.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.114741)[0m + 21.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.264741) + 21.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.264741)[0m + 21.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.284741) + 21.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.284741)[0m + 21.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.294741) + 21.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.294741)[0m + 21.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.304741) + 21.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.304741)[0m + 21.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.444741) + 21.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.444741)[0m + 21.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.464741) + 21.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.464741)[0m + 21.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.474741) + 21.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.474741)[0m + 21.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.494741) + 21.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.494741)[0m + 21.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.614741) + 21.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.614741)[0m + 21.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.674741) + 21.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.674741)[0m + 21.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.684741) + 21.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.684741)[0m + 21.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.704741) + 21.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.704741)[0m + 21.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.744741) + 21.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.744741)[0m + 21.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.764741) + 21.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.764741)[0m + 22.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.904741) + 22.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.904741)[0m + 22.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.924741) + 22.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.924741)[0m + 22.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.944741) + 22.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.944741)[0m + 22.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.80% of iterations over budget over 4:10.005 of wall time (609/76113). Below 1% is expected on a non-realtime system.[0m + 22.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.954741) + 22.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.964741) + 22.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.954741)[0m + 22.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607583.964741)[0m + 22.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.044741) + 22.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.044741)[0m + 22.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.094741) ×2 + 22.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.094741)[0m ×2 + 22.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.114741) + 22.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.124741) + 22.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.114741)[0m + 22.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.124741)[0m + 22.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.374741) + 22.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.374741)[0m + 22.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.404741) ×2 + 22.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.404741)[0m ×2 + 22.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.524741) + 22.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.524741)[0m + 22.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.554741) ×2 + 22.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.554741)[0m ×2 + 22.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.574741) + 22.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.574741)[0m + 22.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.594741) + 22.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.594741)[0m + 22.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.734741) + 22.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.744741) ×2 + 22.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.734741)[0m + 22.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.744741)[0m ×2 + 22.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.754741) + 22.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.754741)[0m + 23.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.814741) + 23.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.814741)[0m + 23.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.924741) + 23.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.924741)[0m + 23.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.954741) + 23.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.964741) + 23.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.954741)[0m + 23.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607584.964741)[0m + 23.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.064741) + 23.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.064741)[0m + 23.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.114741) + 23.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.114741)[0m + 23.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.134741) + 23.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.134741)[0m + 23.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.154741) + 23.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.154741)[0m + 23.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.194741) + 23.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.194741)[0m + 23.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.214741) + 23.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.214741)[0m + 23.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.384741) + 23.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.384741)[0m + 23.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.474741) + 23.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.474741)[0m + 23.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.494741) + 23.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.504741) + 23.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.494741)[0m + 23.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.504741)[0m + 23.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.554741) ×2 + 23.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.554741)[0m ×2 + 23.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.564741) + 23.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.564741)[0m + 24.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.814741) + 24.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.814741)[0m + 24.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.834741) + 24.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.834741)[0m + 24.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.954741) ×2 + 24.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.954741)[0m ×2 + 24.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.984741) + 24.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.994741) + 24.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.984741)[0m + 24.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607585.994741)[0m + 24.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.014741) + 24.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.014741)[0m + 24.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.174741) ×2 + 24.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.174741)[0m ×2 + 24.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.184741) + 24.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.184741)[0m + 24.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.204741) + 24.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.204741)[0m + 24.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.254741) + 24.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.254741)[0m + 24.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.404741) + 24.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.404741)[0m + 24.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.524741) ×2 + 24.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.524741)[0m ×2 + 24.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.594741) + 24.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.594741)[0m + 24.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.614741) + 24.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.614741)[0m + 24.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.694741) + 24.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.694741)[0m + 25.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.814741) + 25.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.814741)[0m + 25.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.834741) + 25.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.834741)[0m + 25.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.864741) + 25.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.864741)[0m + 25.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.944741) + 25.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.944741)[0m + 25.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.964741) + 25.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.964741)[0m + 25.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.984741) + 25.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607586.984741)[0m + 25.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.004741) + 25.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.014741) + 25.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.024741) + 25.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.004741)[0m + 25.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.014741)[0m + 25.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.024741)[0m + 25.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.394741) + 25.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.394741)[0m + 25.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.414741) + 25.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.414741)[0m + 25.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.424741) + 25.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.424741)[0m + 25.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.434741) + 25.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.434741)[0m + 25.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.644741) + 25.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.644741)[0m + 25.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.664741) + 25.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.664741)[0m + 25.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.674741) ×2 + 25.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.674741)[0m ×2 + 25.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.734741) + 25.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.734741)[0m + 26.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.844741) + 26.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.844741)[0m + 26.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.884741) + 26.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607587.884741)[0m + 26.40sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.194741) + 26.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.194741)[0m + 26.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.224741) + 26.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.224741)[0m + 26.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.264741) + 26.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.264741)[0m + 26.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.294741) + 26.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.294741)[0m + 26.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.314741) ×2 + 26.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.314741)[0m ×2 + 26.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.394741) + 26.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.394741)[0m + 26.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.414741) + 26.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.424741) + 26.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.414741)[0m + 26.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.424741)[0m + 26.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.444741) + 26.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.444741)[0m + 26.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.464741) + 26.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.464741)[0m + 26.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.484741) + 26.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.484741)[0m + 26.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.494741) + 26.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.494741)[0m + 26.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.694741) + 26.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.694741)[0m + 26.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.724741) + 26.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.724741)[0m + 26.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.744741) + 26.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.744741)[0m + 26.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.774741) + 26.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.774741)[0m + 27.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.854741) + 27.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.854741)[0m + 27.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.884741) + 27.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.894741) + 27.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.884741)[0m + 27.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.894741)[0m + 27.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.914741) + 27.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.914741)[0m + 27.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.924741) + 27.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.934741) + 27.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.924741)[0m + 27.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607588.934741)[0m + 27.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.084741) + 27.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.084741)[0m + 27.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.104741) + 27.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.114741) + 27.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.104741)[0m + 27.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.114741)[0m + 27.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.124741) + 27.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.134741) + 27.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.124741)[0m + 27.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.134741)[0m + 27.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.174741) + 27.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.184741) + 27.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.174741)[0m + 27.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.184741)[0m + 27.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.294741) + 27.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.294741)[0m + 27.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.314741) + 27.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.314741)[0m + 27.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.574741) + 27.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.574741)[0m + 27.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.594741) + 27.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.594741)[0m + 27.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.624741) + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.624741)[0m + 27.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.644741) + 27.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.644741)[0m + 27.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.674741) + 27.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.674741)[0m + 27.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.704741) + 27.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.704741)[0m + 27.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.724741) + 27.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.724741)[0m + 27.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.744741) + 27.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.744741)[0m + 27.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.754741) + 27.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.764741) + 27.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.754741)[0m + 27.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.764741)[0m + 28.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.834741) ×2 + 28.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.834741)[0m ×2 + 28.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.854741) + 28.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.864741) + 28.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.854741)[0m + 28.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.864741)[0m + 28.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.894741) + 28.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.904741) + 28.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.894741)[0m + 28.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.904741)[0m + 28.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.924741) + 28.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.924741)[0m + 28.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.994741) + 28.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607589.994741)[0m + 28.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.014741) + 28.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.014741)[0m + 28.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.034741) + 28.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.034741)[0m + 28.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.054741) + 28.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.054741)[0m + 28.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.154741) + 28.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.154741)[0m + 28.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.214741) + 28.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.214741)[0m + 28.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.234741) + 28.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.234741)[0m + 28.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.324741) + 28.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.324741)[0m + 28.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.364741) + 28.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.364741)[0m + 28.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.374741) + 28.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.374741)[0m + 28.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.384741) + 28.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.384741)[0m + 28.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.404741) + 28.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.404741)[0m + 28.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.424741) + 28.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.424741)[0m + 28.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.554741) + 28.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.564741) + 28.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.554741)[0m + 28.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.564741)[0m + 28.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.574741) + 28.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.584741) + 28.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.574741)[0m + 28.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.584741)[0m + 28.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.604741) + 28.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.604741)[0m + 28.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.644741) + 28.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.644741)[0m + 28.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.774741) + 28.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.774741)[0m + 29.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.814741) + 29.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.814741)[0m + 29.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.834741) + 29.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.834741)[0m + 29.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.924741) + 29.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607590.924741)[0m + 29.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.264741) + 29.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.264741)[0m + 29.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.284741) + 29.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.284741)[0m + 29.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.334741) + 29.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.334741)[0m + 29.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.354741) + 29.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.364741) + 29.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.354741)[0m + 29.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.364741)[0m + 29.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.374741) + 29.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.374741)[0m + 29.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.404741) + 29.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.414741) + 29.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.404741)[0m + 29.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.414741)[0m + 29.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.494741) + 29.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.494741)[0m + 29.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.564741) + 29.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.564741)[0m + 29.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.734741) + 29.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.734741)[0m + 29.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.774741) + 29.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.774741)[0m + 30.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.884741) + 30.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.884741)[0m + 30.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.924741) + 30.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.924741)[0m + 30.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.944741) + 30.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607591.944741)[0m + 30.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.094741) + 30.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.094741)[0m + 30.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.104741) + 30.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.114741) + 30.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.124741) + 30.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.104741)[0m + 30.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.114741)[0m + 30.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.124741)[0m + 30.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.134741) + 30.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.144741) + 30.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.134741)[0m + 30.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.144741)[0m + 30.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.544741) + 30.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.544741)[0m + 30.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.784741) + 30.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.784741)[0m + 31.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.844741) + 31.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.844741)[0m + 31.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.924741) + 31.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.924741)[0m + 31.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.934741) + 31.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.934741)[0m + 31.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.954741) + 31.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.954741)[0m + 31.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.974741) ×2 + 31.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.974741)[0m ×2 + 31.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.994741) + 31.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607592.994741)[0m + 31.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.074741) + 31.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.074741)[0m + 31.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.084741) + 31.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.084741)[0m + 31.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.114741) + 31.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.114741)[0m + 31.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.304741) + 31.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.304741)[0m + 31.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.444741) + 31.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.444741)[0m + 31.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.464741) + 31.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.464741)[0m + 31.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.494741) + 31.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.494741)[0m + 31.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.634741) + 31.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.644741) + 31.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.634741)[0m + 31.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.644741)[0m + 31.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.654741) + 31.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.654741)[0m + 31.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.664741) + 31.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.664741)[0m + 31.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.684741) + 31.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.684741)[0m + 31.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.724741) + 31.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607593.724741)[0m + 32.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.134741) + 32.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.134741)[0m + 32.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.274741) + 32.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.274741)[0m + 32.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.414741) + 32.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.424741) + 32.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.414741)[0m + 32.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.424741)[0m + 32.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.434741) ×2 + 32.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.434741)[0m ×2 + 32.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.474741) ×2 + 32.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.474741)[0m ×2 + 32.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.494741) + 32.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.494741)[0m + 32.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.574741) + 32.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.574741)[0m + 32.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.594741) + 32.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.594741)[0m + 32.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.614741) + 32.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.614741)[0m + 32.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.624741) + 32.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.624741)[0m + 33.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.924741) ×2 + 33.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.924741)[0m ×2 + 33.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.964741) + 33.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.964741)[0m + 33.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.984741) ×2 + 33.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607594.984741)[0m ×2 + 33.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.134741) + 33.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.144741) + 33.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.134741)[0m + 33.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.144741)[0m + 33.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.154741) + 33.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.164741) + 33.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.154741)[0m + 33.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.174741) ×2 + 33.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.164741)[0m + 33.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.174741)[0m ×2 + 34.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.834741) + 34.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.834741)[0m + 34.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.844741) + 34.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.844741)[0m + 34.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.914741) + 34.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.914741)[0m + 34.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.934741) + 34.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.944741) + 34.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.934741)[0m + 34.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.944741)[0m + 34.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.974741) + 34.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.974741)[0m + 34.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.984741) + 34.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.994741) + 34.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.984741)[0m + 34.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.994741)[0m + 34.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.064741) ×2 + 34.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.064741)[0m ×2 + 34.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.084741) + 34.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.094741) + 34.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.084741)[0m + 34.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.094741)[0m + 34.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.124741) + 34.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.124741)[0m + 34.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.144741) + 34.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.144741)[0m + 34.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.264741) + 34.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.264741)[0m + 34.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.284741) + 34.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.284741)[0m + 34.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.334741) + 34.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.334741)[0m + 34.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.464741) + 34.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.464741)[0m + 34.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.484741) + 34.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.484741)[0m + 34.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.504741) + 34.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.504741)[0m + 34.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.524741) + 34.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.524741)[0m + 34.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.674741) + 34.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.684741) + 34.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.674741)[0m + 34.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.684741)[0m + 34.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.694741) + 34.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.704741) + 34.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.694741)[0m + 34.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.704741)[0m + 34.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.744741) + 34.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.754741) + 34.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.744741)[0m + 34.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.754741)[0m + 35.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.944741) + 35.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.944741)[0m + 35.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.034741) + 35.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.034741)[0m + 35.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.094741) + 35.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.094741)[0m + 35.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.114741) + 35.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.114741)[0m + 35.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.284741) + 35.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.284741)[0m + 35.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.304741) + 35.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.304741)[0m + 35.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.344741) + 35.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.344741)[0m + 35.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.434741) ×2 + 35.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.444741) + 35.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.434741)[0m ×2 + 35.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.444741)[0m + 35.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.464741) + 35.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.464741)[0m + 35.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.484741) + 35.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.484741)[0m + 35.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.504741) + 35.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.504741)[0m + 35.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.554741) + 35.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.554741)[0m + 35.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.584741) + 35.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.584741)[0m + 35.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.614741) ×2 + 35.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.614741)[0m ×2 + 36.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.824741) + 36.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.824741)[0m + 36.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.924741) + 36.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.924741)[0m + 36.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.944741) + 36.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.944741)[0m + 36.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.984741) + 36.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.984741)[0m + 36.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.124741) + 36.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.124741)[0m + 36.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.144741) + 36.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.154741) ×2 + 36.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.144741)[0m + 36.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.154741)[0m ×2 + 36.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.174741) + 36.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.174741)[0m + 36.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.214741) + 36.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.214741)[0m + 36.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.384741) + 36.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.384741)[0m + 36.63sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780607598.42617130 seconds ×2 + 36.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.464741) + 36.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.464741)[0m + 36.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.494741) + 36.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.494741)[0m + 36.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.504741) + 36.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.514741) + 36.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.504741)[0m + 36.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.514741)[0m + 37.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780607599.06550479 seconds. ×2 + 37.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 37.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 37.48sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 37.48sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 38.44sINFOobjective_server_nodeFound path in 6 iterations (0.00532422 s). + 38.50sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 38.51sINFOros2_control_node[2026-06-04 21:13:20.311] [info] Received new action goal + 38.51sINFOros2_control_node[2026-06-04 21:13:20.311] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 33.4s | 118 errors · 1088 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×211 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×152 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×211 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×152 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×130 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×130 + 0.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.834741) + 0.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.834741)[0m + 0.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.844741) + 0.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.844741)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.914741) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.914741)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.934741) + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.944741) + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.934741)[0m + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.944741)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.974741) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.974741)[0m + 0.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.984741) + 0.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.994741) + 0.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.984741)[0m + 0.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.994741)[0m + 0.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.064741) ×2 + 0.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.064741)[0m ×2 + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.084741) + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.094741) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.084741)[0m + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.094741)[0m + 0.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.124741) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.124741)[0m + 0.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.144741) + 0.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.144741)[0m + 0.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.264741) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.264741)[0m + 0.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.284741) + 0.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.284741)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.334741) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.334741)[0m + 1.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.464741) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.464741)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.484741) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.484741)[0m + 1.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.504741) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.504741)[0m + 1.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.524741) + 1.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.524741)[0m + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.674741) + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.684741) + 1.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.674741)[0m + 1.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.684741)[0m + 1.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.694741) + 1.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.704741) + 1.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.694741)[0m + 1.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.704741)[0m + 1.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.744741) + 1.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.754741) + 1.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.744741)[0m + 1.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.754741)[0m + 1.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.944741) + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.944741)[0m + 1.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.034741) + 1.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.034741)[0m + 1.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.094741) + 1.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.094741)[0m + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.114741) + 1.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.114741)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.284741) + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.284741)[0m + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.304741) + 1.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.304741)[0m + 1.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.344741) + 1.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.344741)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.434741) ×2 + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.444741) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.434741)[0m ×2 + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.444741)[0m + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.464741) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.464741)[0m + 2.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.484741) + 2.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.484741)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.504741) + 2.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.504741)[0m + 2.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.554741) + 2.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.554741)[0m + 2.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.584741) + 2.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.584741)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.614741) ×2 + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.614741)[0m ×2 + 2.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.824741) + 2.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.824741)[0m + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.924741) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.924741)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.944741) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.944741)[0m + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.984741) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.984741)[0m + 2.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.124741) + 2.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.124741)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.144741) + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.154741) ×2 + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.144741)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.154741)[0m ×2 + 2.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.174741) + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.174741)[0m + 2.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.214741) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.214741)[0m + 2.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.384741) + 2.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.384741)[0m + 3.01sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780607598.42617130 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.464741) + 3.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.464741)[0m + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.494741) + 3.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.494741)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.504741) + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.514741) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.504741)[0m + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.514741)[0m + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780607599.06550479 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.86sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.83sINFOobjective_server_nodeFound path in 6 iterations (0.00532422 s). + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.90sINFOros2_control_node[2026-06-04 21:13:20.311] [info] Received new action goal + 4.90sINFOros2_control_node[2026-06-04 21:13:20.311] [info] Accepted new action goal + 14.60sINFOobjective_server_node[0;m[0;93m2026-06-04 21:13:30.017609370 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.60sINFOobjective_server_node[0;93m2026-06-04 21:13:30.017654523 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.12sINFOobjective_server_node[0;93m2026-06-04 21:13:30.534044327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.12sINFOobjective_server_node[0;93m2026-06-04 21:13:30.534094980 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.25sINFOobjective_server_node[0;93m2026-06-04 21:13:30.664434203 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.25sINFOobjective_server_node[0;93m2026-06-04 21:13:30.667325965 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.25sINFOobjective_server_node[0;93m2026-06-04 21:13:30.667368678 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.59sINFOobjective_server_node[0;93m2026-06-04 21:13:31.000207446 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.60sINFOobjective_server_node[0;93m2026-06-04 21:13:31.018370752 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.60sINFOobjective_server_node[0;93m2026-06-04 21:13:31.018409334 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.45sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization" + 16.45sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization"[0m + 17.60sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 21.59sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 21.95sINFOobjective_server_nodeFound path in 4 iterations (0.00390067 s). + 22.01sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 22.01sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 22.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________X____________________X] + 22.05sINFOobjective_server_nodeFound path in 28 iterations (0.00603002 s). + 22.08sINFOobjective_server_nodePath shortcutter: [X_________________________________X_______________X______________X] + 22.11sINFOobjective_server_nodeFound path in 1 iterations (0.00302136 s). + 22.16sINFOobjective_server_nodePath shortcutter: [X___________________________________X____________________X] + 22.18sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). + 22.21sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 22.23sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 22.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] + 22.28sINFOobjective_server_nodeFound path in 12 iterations (0.00521711 s). + 22.33sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X_____________________X] + 22.36sINFOobjective_server_nodeFound path in 2 iterations (0.00569982 s). + 22.40sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] + 22.42sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 22.46sINFOobjective_server_nodePath shortcutter: [X___________________________________________X] + 22.49sINFOobjective_server_nodeFound path in 68 iterations (0.0160256 s). + 22.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________X_______________________________________________X] + 22.58sINFOobjective_server_nodeFound path in 4 iterations (0.00476452 s). + 22.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________X] + 22.69sINFOobjective_server_nodeFound path in 1 iterations (0.00462977 s). + 22.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________X____________________________X] + 22.78sINFOobjective_server_nodeFound path in 1 iterations (0.00251268 s). + 22.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 22.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 22.90sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] + 22.93sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 22.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 22.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 23.06sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X] + 23.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] + 23.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 23.22sINFOros2_control_node[2026-06-04 21:13:38.631] [info] Received new action goal + 23.22sINFOros2_control_node[2026-06-04 21:13:38.631] [info] Accepted new action goal + 28.27sINFOros2_control_node[2026-06-04 21:13:43.684] [info] Received new action goal + 28.27sINFOros2_control_node[2026-06-04 21:13:43.684] [info] Accepted new action goal + 29.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 29.88sINFOros2_control_node[2026-06-04 21:13:45.296] [info] Received new action goal + 29.88sINFOros2_control_node[2026-06-04 21:13:45.296] [info] Accepted new action goal + 31.12sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 31.16sINFOros2_control_node[2026-06-04 21:13:46.578] [info] Received new action goal + 31.16sINFOros2_control_node[2026-06-04 21:13:46.578] [info] Accepted new action goal + 36.42sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607631.83328724 seconds ×2 + 37.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607632.54123116 seconds. ×2 + 37.22sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 37.22sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 37.22sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 37.23sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 37.23sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 37.23sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 37.33sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 37.33sINFOobjective_server_nodePath shortcutter: [X______X] + 37.34sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Received new action goal + 37.34sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.8s | 400 errors · 7789 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1759 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1559 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1759 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1559 + 3.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607540.06222892 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! ×561 + 3.54sINFOros2_control_nodeGoal reached, success![0m ×561 + 3.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607540.73115611 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.87sINFOros2_control_node[2026-06-04 21:12:20.916] [info] Received new action goal + 3.87sINFOros2_control_node[2026-06-04 21:12:20.916] [info] Accepted new action goal + 7.68sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.74sINFOobjective_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 ×2 + 7.76sINFOobjective_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 ×2 + 15.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607552.422745) + 15.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607552.422745)[0m + 15.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607552.872745) + 15.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607552.872745)[0m + 15.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607552.912745) + 15.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607552.912745)[0m + 15.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.032745) ×2 + 15.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.032745)[0m ×2 + 16.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.172745) + 16.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.172745)[0m + 16.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.192745) + 16.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.192745)[0m + 16.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.232745) + 16.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.232745)[0m + 16.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.562745) + 16.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.562745)[0m + 16.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.572745) + 16.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.572745)[0m + 16.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.642745) + 16.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.642745)[0m + 16.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.822745) + 16.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.822745)[0m + 16.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.832745) + 16.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.832745)[0m + 16.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.842745) + 16.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.842745)[0m + 16.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.862745) + 16.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607553.862745)[0m + 17.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.062745) + 17.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.062745)[0m + 17.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.182745) + 17.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.182745)[0m + 17.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.252745) + 17.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.252745)[0m + 17.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.282745) + 17.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.282745)[0m + 17.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.392745) + 17.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.392745)[0m + 17.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.502745) ×2 + 17.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.502745)[0m ×2 + 17.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.522745) + 17.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.522745)[0m + 17.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.612745) + 17.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.612745)[0m + 17.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.622745) + 17.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.632745) + 17.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.622745)[0m + 17.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.632745)[0m + 17.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.652745) + 17.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.652745)[0m + 17.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.692745) + 17.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607554.692745)[0m + 18.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.082745) + 18.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.082745)[0m + 18.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.162745) + 18.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.162745)[0m + 18.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.312745) + 18.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.312745)[0m + 18.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.342745) ×2 + 18.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.342745)[0m ×2 + 18.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.582745) + 18.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.582745)[0m + 18.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.742745) + 18.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.742745)[0m + 18.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.762745) + 18.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.762745)[0m + 18.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.822745) + 18.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.822745)[0m + 18.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.952745) + 18.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.952745)[0m + 18.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.992745) + 18.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607555.992745)[0m + 19.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.092745) + 19.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.102745) + 19.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.092745)[0m + 19.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.102745)[0m + 19.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.142745) + 19.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.142745)[0m + 19.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.392745) + 19.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.392745)[0m + 19.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.412745) + 19.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.412745)[0m + 19.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.472745) + 19.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.472745)[0m + 19.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.562745) + 19.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.562745)[0m + 19.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.572745) + 19.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.572745)[0m + 19.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.622745) + 19.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.622745)[0m + 19.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.642745) + 19.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.642745)[0m + 19.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.802745) + 19.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.802745)[0m + 19.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.822745) + 19.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.832745) ×2 + 19.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.822745)[0m + 19.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607556.832745)[0m ×2 + 20.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.052745) + 20.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.052745)[0m + 20.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.072745) + 20.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.072745)[0m + 20.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.192745) + 20.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.192745)[0m + 20.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.272745) + 20.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.282745) ×2 + 20.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.272745)[0m + 20.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.282745)[0m ×2 + 20.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.432745) + 20.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.432745)[0m + 20.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.502745) ×2 + 20.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.502745)[0m ×2 + 20.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.622745) + 20.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.622745)[0m + 20.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.642745) + 20.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.642745)[0m + 20.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.672745) + 20.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.672745)[0m + 20.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.802745) + 20.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.802745)[0m + 20.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.922745) + 20.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.922745)[0m + 20.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.962745) + 20.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.962745)[0m + 20.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.992745) + 20.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607557.992745)[0m + 21.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.102745) + 21.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.112745) + 21.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.102745)[0m + 21.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.112745)[0m + 21.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.162745) ×2 + 21.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.162745)[0m ×2 + 21.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.312745) + 21.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.312745)[0m + 21.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.322745) + 21.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.322745)[0m + 21.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.332745) + 21.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.332745)[0m + 21.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.532745) + 21.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.532745)[0m + 21.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.552745) + 21.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.552745)[0m + 21.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.582745) + 21.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.582745)[0m + 21.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.672745) + 21.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.672745)[0m + 21.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.742745) ×2 + 21.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.742745)[0m ×2 + 21.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.802745) + 21.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.802745)[0m + 21.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.872745) + 21.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.872745)[0m + 21.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.912745) + 21.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.912745)[0m + 21.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.942745) + 21.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.942745)[0m + 21.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.982745) + 21.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607558.982745)[0m + 21.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.012745) + 21.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.012745)[0m + 22.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.112745) + 22.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.112745)[0m + 22.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.152745) + 22.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.152745)[0m + 22.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.402745) + 22.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.412745) + 22.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.402745)[0m + 22.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.412745)[0m + 22.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.432745) + 22.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.432745)[0m + 22.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.472745) + 22.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.472745)[0m + 22.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.492745) + 22.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.492745)[0m + 22.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.592745) + 22.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.592745)[0m + 22.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.622745) + 22.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.622745)[0m + 22.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.652745) + 22.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.652745)[0m + 22.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.802745) ×2 + 22.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.802745)[0m ×2 + 22.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.822745) + 22.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.822745)[0m + 22.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.832745) + 22.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.832745)[0m + 22.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.862745) + 22.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607559.862745)[0m + 23.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.062745) + 23.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.062745)[0m + 23.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.112745) + 23.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.112745)[0m + 23.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.212745) + 23.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.212745)[0m + 23.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.272745) + 23.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.272745)[0m + 23.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.282745) + 23.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.282745)[0m + 23.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.342745) + 23.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.342745)[0m + 23.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.392745) + 23.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.392745)[0m + 23.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.412745) + 23.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.412745)[0m + 23.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.482745) + 23.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.482745)[0m + 23.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.522745) ×2 + 23.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.522745)[0m ×2 + 23.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.622745) + 23.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.622745)[0m + 23.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.632745) + 23.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.632745)[0m + 23.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.652745) + 23.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.652745)[0m + 23.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.682745) + 23.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.682745)[0m + 23.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.772745) + 23.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.772745)[0m + 23.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.942745) + 23.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.942745)[0m + 23.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.972745) + 23.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.972745)[0m + 23.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.992745) + 23.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607560.992745)[0m + 23.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.012745) + 23.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.012745)[0m + 24.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.142745) + 24.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.142745)[0m + 24.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.162745) ×2 + 24.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.162745)[0m ×2 + 24.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.332745) + 24.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.332745)[0m + 24.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.342745) + 24.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.352745) + 24.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.342745)[0m + 24.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.352745)[0m + 24.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.402745) + 24.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.402745)[0m + 24.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.572745) + 24.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.572745)[0m + 24.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.632745) + 24.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.632745)[0m + 24.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.662745) + 24.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.662745)[0m + 24.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.682745) + 24.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.682745)[0m + 24.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.752745) + 24.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.752745)[0m + 24.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.812745) ×2 + 24.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.812745)[0m ×2 + 24.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.872745) + 24.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.872745)[0m + 24.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.902745) + 24.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.902745)[0m + 24.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.932745) + 24.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.932745)[0m + 24.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.952745) + 24.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.952745)[0m + 24.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.992745) + 24.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.992745)[0m + 24.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.012745) + 24.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.012745)[0m + 25.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.082745) + 25.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.092745) + 25.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.082745)[0m + 25.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.092745)[0m + 25.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.142745) + 25.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.152745) + 25.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.142745)[0m + 25.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.152745)[0m + 25.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.282745) + 25.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.282745)[0m + 25.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.292745) + 25.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.292745)[0m + 25.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.402745) + 25.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.402745)[0m + 25.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.442745) + 25.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.442745)[0m + 25.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.462745) + 25.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.472745) + 25.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.462745)[0m + 25.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.472745)[0m + 25.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.502745) + 25.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.502745)[0m + 25.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.582745) + 25.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.582745)[0m + 25.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.602745) + 25.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.602745)[0m + 25.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.642745) + 25.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.642745)[0m + 25.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.792745) + 25.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.792745)[0m + 25.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.812745) + 25.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.822745) + 25.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.832745) ×2 + 25.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.812745)[0m + 25.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.822745)[0m + 25.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.832745)[0m ×2 + 26.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.172745) + 26.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.172745)[0m + 26.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.222745) + 26.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.222745)[0m + 26.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.242745) + 26.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.242745)[0m + 26.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.262745) + 26.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.262745)[0m + 26.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.312745) + 26.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.312745)[0m + 26.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.452745) + 26.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.452745)[0m + 26.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.472745) + 26.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.482745) + 26.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.472745)[0m + 26.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.482745)[0m + 26.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.502745) + 26.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.502745)[0m + 26.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.522745) + 26.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.522745)[0m + 26.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.592745) + 26.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.602745) + 26.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.592745)[0m + 26.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.602745)[0m + 26.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.632745) + 26.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.632745)[0m + 26.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.662745) + 26.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.662745)[0m + 26.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.782745) + 26.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.782745)[0m + 26.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.792745) + 26.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.792745)[0m + 26.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.892745) + 26.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.892745)[0m + 26.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.922745) + 26.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.922745)[0m + 26.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.952745) + 26.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.952745)[0m + 26.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.962745) + 26.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.962745)[0m + 26.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.982745) + 26.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.982745)[0m + 27.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.082745) + 27.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.082745)[0m + 27.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.102745) + 27.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.102745)[0m + 27.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.132745) + 27.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.132745)[0m + 27.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.162745) + 27.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.162745)[0m + 27.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.282745) + 27.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.282745)[0m + 27.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.302745) + 27.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.302745)[0m + 27.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.322745) ×2 + 27.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.332745) + 27.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.322745)[0m ×2 + 27.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.332745)[0m + 27.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.562745) + 27.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.562745)[0m + 27.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.672745) + 27.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.672745)[0m + 27.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.702745) + 27.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.702745)[0m + 27.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.712745) + 27.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.712745)[0m + 27.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.752745) + 27.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.752745)[0m + 27.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.792745) + 27.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.792745)[0m + 27.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607564.81306934 seconds ×2 + 27.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.822745) + 27.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.822745)[0m + 27.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.882745) + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.882745)[0m + 28.35sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780607565.39982486 seconds. ×2 + 28.35sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 28.35sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 28.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 28.54sINFOros2_control_node[2026-06-04 21:12:45.585] [info] Received new action goal + 28.54sINFOros2_control_node[2026-06-04 21:12:45.585] [info] Accepted new action goal | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 2 errors · 63 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00277872 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.22sINFOros2_control_node[2026-06-04 21:10:21.249] [info] Received new action goal + 0.22sINFOros2_control_node[2026-06-04 21:10:21.249] [info] Accepted new action goal + 0.66sINFOros2_control_node[2026-06-04 21:10:21.691] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-04 21:10:21.691] [info] Accepted new action goal + 1.76sINFOros2_control_node[2026-06-04 21:10:22.793] [info] Got request to cancel active goal. + 1.76sINFOros2_control_node[2026-06-04 21:10:22.793] [info] Canceling active goal... + 1.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780607422.80273938 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780607423.42884707 seconds. ×2 + 2.52sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.52sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.52sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.52sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.55sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 2.56sINFOros2_control_node[2026-06-04 21:10:23.592] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-04 21:10:23.592] [info] Accepted new action goal + 4.99sINFOros2_control_node[2026-06-04 21:10:26.021] [info] Received new action goal + 4.99sINFOros2_control_node[2026-06-04 21:10:26.021] [info] Accepted new action goal + 13.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607434.58482027 seconds ×2 + 14.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607435.22341967 seconds. ×2 + 14.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607435.28356361 seconds ×2 + 14.81sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607435.83960462 seconds. ×2 + 14.93sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.94sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Received new action goal + 14.94sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Accepted new action goal + 16.96sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607437.98974228 seconds ×2 + 17.52sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607438.54789853 seconds. ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 2 errors · 71 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607389.09637523 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607389.68015337 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607389.78035545 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607390.34309268 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Accepted new action goal + 8.82sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 8.82sINFOros2_control_node[2026-06-04 21:09:56.154] [info] Received new action goal + 8.82sINFOros2_control_node[2026-06-04 21:09:56.154] [info] Accepted new action goal + 11.15sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 11.16sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 11.16sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 13.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 13.51sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 13.51sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 13.55sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 13.55sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 13.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 14.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 14.51sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 14.51sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 14.51sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 14.51sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 15.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 15.45sINFOobjective_server_nodePath shortcutter: [X______X] + 15.47sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 15.47sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 16.62sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 2 errors · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 0.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 1.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 1.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 2.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 2.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 2.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.71sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 2.72sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 4.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 4.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 5.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.23sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 5.23sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal + 8.95sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 8.98sINFOros2_control_node[2026-06-04 21:09:08.689] [info] Received new action goal + 8.98sINFOros2_control_node[2026-06-04 21:09:08.689] [info] Accepted new action goal + 12.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 12.28sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.29sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 12.29sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 13.08sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 13.08sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 13.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 13.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 13.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 14.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 14.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.71sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.63sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 15.63sINFOobjective_server_nodePath shortcutter: [X______X] + 15.65sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 15.65sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 4 errors · 47 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 14.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780607653.81533480 seconds ×2 + 14.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780607654.38028789 seconds. ×2 + 14.83sINFOobjective_server_nodePath shortcutter: [X________________X] + 14.84sINFOros2_control_node[2026-06-04 21:14:14.639] [info] Received new action goal + 14.84sINFOros2_control_node[2026-06-04 21:14:14.639] [info] Accepted new action goal + 15.01sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.01sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 2 errors · 67 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607631.83328724 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607632.54123116 seconds. ×2 + 1.71sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.71sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.71sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.72sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.72sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.72sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.82sINFOobjective_server_nodePath shortcutter: [X______X] + 1.83sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Accepted new action goal + 5.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 5.24sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m + 5.74sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.74sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 8.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.77sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 8.77sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 8.88sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 8.89sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 8.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.94sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 9.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 9.04sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 9.05sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 9.05sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 11.58sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 11.58sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 11.88sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 11.88sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 11.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 12.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 12.67sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 12.68sINFOobjective_server_nodePath shortcutter: [X________X] + 12.69sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 12.69sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 12.80sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.80sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.80sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.80sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.03sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 14.60sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 10.9s | 51 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 ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.96sINFOros2_control_node[2026-06-04 21:11:29.948] [info] Received new action goal + 0.96sINFOros2_control_node[2026-06-04 21:11:29.948] [info] Accepted new action goal + 2.11sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780607491.10465336 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780607491.85616446 seconds. ×2 + 3.24sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.24sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 4.08sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.09sINFOros2_control_node[2026-06-04 21:11:33.081] [info] Received new action goal + 4.09sINFOros2_control_node[2026-06-04 21:11:33.081] [info] Accepted new action goal + 7.79sINFOobjective_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 ×4 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 9.37sINFOobjective_server_nodePath shortcutter: [X________________________X] + 9.40sINFOros2_control_node[2026-06-04 21:11:38.390] [info] Received new action goal + 9.40sINFOros2_control_node[2026-06-04 21:11:38.390] [info] Accepted new action goal + 13.05sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780607502.04650807 seconds ×2 + 13.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607502.62154508 seconds. ×2 + 13.79sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 13.80sINFOobjective_server_nodePath shortcutter: [X___X] + 13.80sINFOros2_control_node[2026-06-04 21:11:42.795] [info] Received new action goal + 13.80sINFOros2_control_node[2026-06-04 21:11:42.795] [info] Accepted new action goal + 13.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 13.81sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 15.07sINFOobjective_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 ×2 + 15.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 4 errors · 63 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m + 13.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.18sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 13.45sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X__________X] + 13.46sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 13.46sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 13.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780607411.90492797 seconds ×2 + 13.52sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution" + 13.52sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution"[0m + 14.09sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780607412.49177980 seconds. ×2 + 14.28sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 14.29sINFOros2_control_node[2026-06-04 21:10:12.695] [info] Received new action goal + 14.29sINFOros2_control_node[2026-06-04 21:10:12.695] [info] Accepted new action goal + 14.54sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.54sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.54sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.55sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 17.06sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 17.06sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 17.57sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.58sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 4 errors · 90 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780607411.90492797 seconds ×2 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.35sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution" + 0.35sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution"[0m + 0.92sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780607412.49177980 seconds. ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 1.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.11sINFOobjective_server_nodePath shortcutter: [X______X] + 1.12sINFOros2_control_node[2026-06-04 21:10:12.695] [info] Received new action goal + 1.12sINFOros2_control_node[2026-06-04 21:10:12.695] [info] Accepted new action goal + 1.37sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.37sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.37sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.38sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.89sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 3.89sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 4.40sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.41sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.29sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 6.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 6.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 6.39sINFOobjective_server_nodeFound path in 1 iterations (0.00287525 s). + 6.42sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 6.42sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 6.47sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 6.49sINFOobjective_server_nodeFound path in 1 iterations (0.00389813 s). + 6.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 6.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 6.72sINFOros2_control_node[2026-06-04 21:10:18.290] [info] Received new action goal + 6.72sINFOros2_control_node[2026-06-04 21:10:18.290] [info] Accepted new action goal + 9.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 9.46sINFOobjective_server_nodePath shortcutter: [X_X] + 9.46sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 9.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 9.54sINFOobjective_server_nodeFound path in 1 iterations (0.00277872 s). + 9.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 9.68sINFOros2_control_node[2026-06-04 21:10:21.249] [info] Received new action goal + 9.68sINFOros2_control_node[2026-06-04 21:10:21.249] [info] Accepted new action goal + 10.12sINFOros2_control_node[2026-06-04 21:10:21.691] [info] Received new action goal + 10.12sINFOros2_control_node[2026-06-04 21:10:21.691] [info] Accepted new action goal + 11.22sINFOros2_control_node[2026-06-04 21:10:22.793] [info] Got request to cancel active goal. + 11.22sINFOros2_control_node[2026-06-04 21:10:22.793] [info] Canceling active goal... + 11.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780607422.80273938 seconds ×2 + 11.85sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780607423.42884707 seconds. ×2 + 11.98sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 11.98sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 11.98sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.98sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 12.02sINFOros2_control_node[2026-06-04 21:10:23.592] [info] Received new action goal + 12.02sINFOros2_control_node[2026-06-04 21:10:23.592] [info] Accepted new action goal + 14.45sINFOros2_control_node[2026-06-04 21:10:26.021] [info] Received new action goal + 14.45sINFOros2_control_node[2026-06-04 21:10:26.021] [info] Accepted new action goal | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.7s | 2 errors · 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780607664.23816085 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.59sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780607664.82725525 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.69sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 0.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.70sINFOobjective_server_nodePath shortcutter: [X________X] + 0.71sINFOros2_control_node[2026-06-04 21:14:24.951] [info] Received new action goal + 0.71sINFOros2_control_node[2026-06-04 21:14:24.951] [info] Accepted new action goal + 2.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 11.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 11.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 11.77sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.77sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 11.98sINFOobjective_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 '' ×2 + 11.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 12.54sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 12.65sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 12.65sINFOobjective_server_nodePath shortcutter: [X___X] + 12.66sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 12.66sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 21 errors · 2 warnings · 134 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.02sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.02sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607689.67517138 seconds ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.53sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.53sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607690.22860050 seconds. ×2 + 2.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.60sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.61sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.61sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607690.23019505 seconds ×2 + 3.04sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.04sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.04sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.04sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607690.79143476 seconds. ×2 + 3.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607690.79187489 seconds ×2 + 3.54sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.54sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607691.35967970 seconds. ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607692.12980533 seconds ×2 + 4.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 10.21sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.21sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.21sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.22sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.23sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 10.23sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 10.24sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 10.25sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.26sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.26sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.27sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.28sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.29sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 10.30sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 10.31sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 10.31sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 10.32sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 10.33sINFOcontroller_managerShutdown request received.... + 10.33sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.33sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.33sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.33sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.33sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 10.33sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.33sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.33sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.33sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.33sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.33sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.33sINFOcontroller_managerShutting down the controller manager. + 10.33sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.33sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 10.33sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 10.33sERRORui_teleop_bridgeTraceback (most recent call last): + 10.33sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 10.33sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 10.33sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main + 10.33sINFOui_teleop_bridgerclpy.shutdown() + 10.33sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 10.33sINFOui_teleop_bridge_shutdown(context=context) + 10.33sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 10.33sINFOui_teleop_bridgereturn context.shutdown() + 10.33sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 10.33sINFOui_teleop_bridgeself.__context.shutdown() + 10.33sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 10.33sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.33sINFOros2_control_nodeShutdown request received....[0m + 10.33sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 10.33sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 10.33sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 10.33sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 10.33sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 10.33sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 10.33sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 10.33sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 10.33sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 10.33sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 10.33sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 10.33sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 10.33sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 10.33sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 10.33sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 10.33sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 10.33sINFOros2_control_nodeShutting down the controller manager.[0m + 10.39sINFOobjective_server_node[0;m[2026-06-04 21:14:58.018] [moveit_pro_license] [info] + 10.39sINFOobjective_server_node************************************************* ×2 + 10.39sINFOobjective_server_node* MoveIt Pro License + 10.39sINFOobjective_server_node* Application has successfully terminated + 10.45sINFOtf2_web_republisher_node-19process has finished cleanly [pid 11756] + 10.45sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 10.45sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.46sINFOweb_video_server-20process has finished cleanly [pid 11773] + 10.51sERRORui_teleop_bridge-17process has died [pid 11752, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_2lywk5kr']. + 10.51sERRORobjective_server_nodeStack trace (most recent call last): + 10.51sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 11744] + 10.51sINFOmove_joint_resampler_node-12process has finished cleanly [pid 11742] + 10.52sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.53sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55626cba44e4, in _start + 10.53sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57db30e3f, in __libc_start_main + 10.53sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57db30d96, in + 10.53sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57db4c60f, in exit + 10.53sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa57db4c494, in + 10.53sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fa57dfd5251, in spdlog::details::registry::~registry() + 10.53sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7fa57dfdfe66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 10.53sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55626cba9cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 10.53sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55626cba6bf3, in spdlog_ros::RosSink::~RosSink() + 10.53sINFOparameter_manager_node-10process has finished cleanly [pid 11701] + 10.53sINFOwaypoint_manager_node-11process has finished cleanly [pid 11740] + 10.53sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55626cbabe01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 10.53sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa57e4cab2e, in rclcpp::Node::~Node() + 10.53sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa57e4a5d39, in + 10.53sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa57e4d40b9, in + 10.53sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa57e4d4000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 10.53sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa57e4a5d39, in + 10.53sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fa57e4aab31, in rclcpp::CallbackGroup::~CallbackGroup() + 10.53sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fa5319e93f0]) + 10.55sINFOexecute_objective_bridge-16process has finished cleanly [pid 11750] + 10.60sINFOfoxglove_bridgeShutdown complete[0m + 11.35sERRORobjective_server_node_main-14process has died [pid 11746, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_fbg3cu3_ --params-file /tmp/launch_params_itojntu6 --params-file /tmp/launch_params_uvva5ijq --params-file /tmp/launch_params_9nk9z27x --params-file /tmp/launch_params_jhil57i8 --params-file /tmp/launch_params_918funhi']. + 11.35sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 11.45sINFOcomponent_container_mt-15process has finished cleanly [pid 11748] + 11.63sINFOmove_group-9process has finished cleanly [pid 11698] + 12.31sINFOfoxglove_bridge-18process has finished cleanly [pid 11754] + 12.31sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 12.74sINFOros2_control_node-1process has finished cleanly [pid 11679] | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.6s | 4 errors · 2 warnings · 66 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal + 5.30sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.30sINFOros2_control_node[2026-06-04 21:14:40.207] [info] Received new action goal + 5.30sINFOros2_control_node[2026-06-04 21:14:40.207] [info] Accepted new action goal + 5.30sINFOros2_control_node[2026-06-04 21:14:40.207] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 11.90sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Got request to cancel active goal. + 11.90sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Canceling active goal... + 11.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607686.80897450 seconds ×2 + 12.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607687.46504712 seconds. ×2 + 12.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 14.74sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 14.74sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 14.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607689.67517138 seconds ×2 + 15.24sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 15.25sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 15.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607690.22860050 seconds. ×2 + 15.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 15.32sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 15.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 15.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607690.23019505 seconds ×2 + 15.75sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.75sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 15.75sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.75sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 30 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780607653.81533480 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780607654.38028789 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.81sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.83sINFOros2_control_node[2026-06-04 21:14:14.639] [info] Received new action goal + 0.83sINFOros2_control_node[2026-06-04 21:14:14.639] [info] Accepted new action goal + 0.99sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.99sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.84sINFOros2_control_node[2026-06-04 21:14:18.652] [info] Received new action goal + 4.84sINFOros2_control_node[2026-06-04 21:14:18.652] [info] Accepted new action goal + 10.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780607664.23816085 seconds ×2 + 11.01sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780607664.82725525 seconds. ×2 + 11.10sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 11.12sINFOobjective_server_nodePath shortcutter: [X________X] + 11.14sINFOros2_control_node[2026-06-04 21:14:24.951] [info] Received new action goal + 11.14sINFOros2_control_node[2026-06-04 21:14:24.951] [info] Accepted new action goal + 13.04sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.1s | 77 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607435.22341967 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607435.28356361 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607435.83960462 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Accepted new action goal + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607437.98974228 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607438.54789853 seconds. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.45sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.45sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.46sINFOobjective_server_node[0;93m2026-06-04 21:10:43.679539933 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 8.46sINFOobjective_server_node[0;93m2026-06-04 21:10:43.679579896 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.04sINFOobjective_server_node[0;93m2026-06-04 21:10:44.263210654 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.04sINFOobjective_server_node[0;93m2026-06-04 21:10:44.263270768 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.18sINFOobjective_server_node[0;93m2026-06-04 21:10:44.404311683 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.18sINFOobjective_server_node[0;93m2026-06-04 21:10:44.407558718 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.19sINFOobjective_server_node[0;93m2026-06-04 21:10:44.408841923 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.53sINFOobjective_server_node[0;93m2026-06-04 21:10:44.752717405 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.55sINFOobjective_server_node[0;93m2026-06-04 21:10:44.773546787 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.55sINFOobjective_server_node[0;93m2026-06-04 21:10:44.773594920 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.86sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607446.08353376 seconds ×2 + 11.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 11.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 11.46sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 12.02sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 12.02sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 12.02sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 12.02sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 12.09sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.09sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.60sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.60sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.73sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 12.73sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 12.73sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.11sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.13sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.13sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 14.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 14.04sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 14.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 14.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 14.84sINFOobjective_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 ×2 + 14.85sINFOobjective_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 ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.2s | 62 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-04 21:10:43.679539933 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.00sINFOobjective_server_node[0;93m2026-06-04 21:10:43.679579896 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.58sINFOobjective_server_node[0;93m2026-06-04 21:10:44.263210654 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-04 21:10:44.263270768 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.73sINFOobjective_server_node[0;93m2026-06-04 21:10:44.404311683 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.73sINFOobjective_server_node[0;93m2026-06-04 21:10:44.407558718 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.73sINFOobjective_server_node[0;93m2026-06-04 21:10:44.408841923 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.07sINFOobjective_server_node[0;93m2026-06-04 21:10:44.752717405 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.10sINFOobjective_server_node[0;93m2026-06-04 21:10:44.773546787 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.10sINFOobjective_server_node[0;93m2026-06-04 21:10:44.773594920 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.40sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607446.08353376 seconds ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.56sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 3.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 3.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 3.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.65sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 5.58sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 5.59sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 6.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 6.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.31sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.38sINFOobjective_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 ×2 + 6.39sINFOobjective_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 ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Received new action goal + 6.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Accepted new action goal + 6.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 6.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 9.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 9.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Received new action goal + 9.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.8s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607686.80897450 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607687.46504712 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607689.67517138 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607690.22860050 seconds. ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607690.23019505 seconds ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607690.79143476 seconds. ×2 + 3.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607690.79187489 seconds ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607691.35967970 seconds. ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607692.12980533 seconds ×2 + 5.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607434.58482027 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607435.22341967 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607435.28356361 seconds ×2 + 1.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607435.83960462 seconds. ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.39sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Accepted new action goal + 3.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607437.98974228 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607438.54789853 seconds. ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.09sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Received new action goal + 4.09sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Accepted new action goal + 4.09sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.09sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 247 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.07sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" + 0.07sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" + 0.07sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m + 0.09sINFOobjective_server_node[2026-06-04 21:08:53.834] [moveit_pro_license] [info] + 0.09sINFOobjective_server_node************************************************* ×2 + 0.09sINFOobjective_server_node* MoveIt Pro License + 0.09sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.18sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.19sINFOcontroller_managerupdate rate is 600 Hz + 0.19sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.19sWARNcontroller_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. + 0.19sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.19sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.19sWARNros2_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 + 0.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.28sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.28sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.42sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.42sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.42sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.44sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.44sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOobjective_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. + 0.51sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.53sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.53sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.53sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.53sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.53sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.53sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.53sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.53sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.54sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.60sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap" + 0.60sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.61sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers" + 0.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.61sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers"[0m + 0.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.62sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info" + 0.62sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info"[0m + 0.62sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/velocity_force_controller/transition_event" + 0.62sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/velocity_force_controller/transition_event"[0m + 0.62sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/points" + 0.62sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event" + 0.63sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/points"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/depth" + 0.63sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_state_broadcaster/transition_event" + 0.63sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color" + 0.63sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/depth"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_state_broadcaster/transition_event"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/wrench" + 0.63sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.63sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector" + 0.63sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/color" + 0.63sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents" + 0.63sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/color"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status" + 0.63sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.63sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/points" + 0.63sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/camera_info" + 0.63sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/depth" + 0.63sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/points"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/camera_info"[0m + 0.63sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/depth"[0m + 0.64sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.64sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.64sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.64sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.65sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.70sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.73sINFOros2_control_node[2026-06-04 21:08:54.479] [info] Controller state will be published at 10 Hz. + 0.73sINFOros2_control_node[2026-06-04 21:08:54.481] [info] VelocityForceController 'on_configure' succeeded. + 0.73sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.73sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.73sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.73sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.74sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.74sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.74sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.74sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.74sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.74sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.74sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.74sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.74sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.74sINFOros2_control_node[2026-06-04 21:08:54.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.74sINFOros2_control_node[2026-06-04 21:08:54.492] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.78sINFOros2_control_node[2026-06-04 21:08:54.526] [info] First order lag filter time constant set to: 0.2 seconds + 0.78sINFOros2_control_node[2026-06-04 21:08:54.526] [info] Controller state will be published at 50 Hz. + 0.78sINFOros2_control_node[2026-06-04 21:08:54.532] [info] Registered `FollowJointTrajectory` action server. + 0.78sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.82sINFOros2_control_node[2026-06-04 21:08:54.569] [info] Controller state will be published at 20 Hz. + 0.82sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.82sINFOros2_control_node[2026-06-04 21:08:54.570] [info] JointVelocityController 'on_configure' succeeded. + 0.82sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.82sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.82sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.82sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.82sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.82sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.82sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.84sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.99sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.02sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11692] + 1.06sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 1.06sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.07sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11689] + 1.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11687] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11685] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11695] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11683] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11681] + 1.20sINFOmove_group ×2 + 1.20sINFOmove_group[92mYou can start planning now![0m + 1.37sWARNobjective_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/. + 1.42sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command" + 1.42sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event" + 1.42sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command"[0m + 1.42sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event"[0m + 1.42sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state" + 1.42sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/transition_event" + 1.42sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state"[0m + 1.42sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/transition_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/controller_state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/command" + 1.43sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/transition_event" + 1.43sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/controller_state"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/command"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/transition_event"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/joint_trajectory" + 1.43sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/controller_state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.43sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/controller_state"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 1.43sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 1.98sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780607336.33812380 seconds. ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780607336.34828639 seconds ×2 + 3.03sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 3.03sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 3.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780607336.89779329 seconds. ×2 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.55sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 4.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 5.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 6.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 7.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 7.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 7.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 7.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 8.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 8.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.7s | 63 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780607336.33812380 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780607336.34828639 seconds ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780607336.89779329 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 5.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 6.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 6.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.71sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 6.71sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 8.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607434.58482027 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607435.22341967 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607435.28356361 seconds ×2 + 1.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607435.83960462 seconds. ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.39sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Accepted new action goal + 3.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607437.98974228 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607438.54789853 seconds. ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 4.09sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Received new action goal + 4.09sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Accepted new action goal + 4.09sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.09sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607389.09637523 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607389.68015337 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607389.78035545 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607390.34309268 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 warnings · 38 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607687.46504712 seconds. ×2 + 0.16sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.16sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.18sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.18sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607689.67517138 seconds ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.69sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.69sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607690.22860050 seconds. ×2 + 2.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.76sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 2.77sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.77sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607690.23019505 seconds ×2 + 3.19sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.19sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.19sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.20sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607690.79143476 seconds. ×2 + 3.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607690.79187489 seconds ×2 + 3.70sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.70sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607691.35967970 seconds. ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607692.12980533 seconds ×2 + 4.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607686.80897450 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607687.46504712 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607689.67517138 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607690.22860050 seconds. ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607690.23019505 seconds ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 3.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607690.79143476 seconds. ×2 + 3.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607690.79187489 seconds ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607691.35967970 seconds. ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607692.12980533 seconds ×2 + 5.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.1s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607686.80897450 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607687.46504712 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607689.67517138 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607690.22860050 seconds. ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607690.23019505 seconds ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.59sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.38sINFOobjective_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 ×2 + 3.39sINFOobjective_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 ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Received new action goal + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Received new action goal + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.59sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.38sINFOobjective_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 ×2 + 3.39sINFOobjective_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 ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Received new action goal + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Received new action goal + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.59sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.38sINFOobjective_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 ×2 + 3.39sINFOobjective_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 ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Received new action goal + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Received new action goal + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 118 errors · 1002 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×211 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×152 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×211 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×152 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×130 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×130 + 0.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.834741) + 0.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.834741)[0m + 0.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.844741) + 0.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.844741)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.914741) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.914741)[0m + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.934741) + 0.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.944741) + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.934741)[0m + 0.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.944741)[0m + 0.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.974741) + 0.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.974741)[0m + 0.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.984741) + 0.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.994741) + 0.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.984741)[0m + 0.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607595.994741)[0m + 0.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.064741) ×2 + 0.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.064741)[0m ×2 + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.084741) + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.094741) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.084741)[0m + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.094741)[0m + 0.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.124741) + 0.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.124741)[0m + 0.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.144741) + 0.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.144741)[0m + 0.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.264741) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.264741)[0m + 0.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.284741) + 0.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.284741)[0m + 0.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.334741) + 0.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.334741)[0m + 1.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.464741) + 1.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.464741)[0m + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.484741) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.484741)[0m + 1.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.504741) + 1.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.504741)[0m + 1.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.524741) + 1.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.524741)[0m + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.674741) + 1.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.684741) + 1.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.674741)[0m + 1.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.684741)[0m + 1.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.694741) + 1.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.704741) + 1.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.694741)[0m + 1.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.704741)[0m + 1.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.744741) + 1.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.754741) + 1.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.744741)[0m + 1.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.754741)[0m + 1.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.944741) + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607596.944741)[0m + 1.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.034741) + 1.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.034741)[0m + 1.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.094741) + 1.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.094741)[0m + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.114741) + 1.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.114741)[0m + 1.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.284741) + 1.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.284741)[0m + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.304741) + 1.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.304741)[0m + 1.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.344741) + 1.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.344741)[0m + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.434741) ×2 + 2.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.444741) + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.434741)[0m ×2 + 2.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.444741)[0m + 2.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.464741) + 2.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.464741)[0m + 2.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.484741) + 2.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.484741)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.504741) + 2.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.504741)[0m + 2.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.554741) + 2.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.554741)[0m + 2.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.584741) + 2.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.584741)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.614741) ×2 + 2.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.614741)[0m ×2 + 2.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.824741) + 2.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.824741)[0m + 2.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.924741) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.924741)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.944741) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.944741)[0m + 2.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.984741) + 2.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607597.984741)[0m + 2.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.124741) + 2.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.124741)[0m + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.144741) + 2.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.154741) ×2 + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.144741)[0m + 2.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.154741)[0m ×2 + 2.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.174741) + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.174741)[0m + 2.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.214741) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.214741)[0m + 2.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.384741) + 2.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.384741)[0m + 3.01sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780607598.42617130 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.464741) + 3.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.464741)[0m + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.494741) + 3.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.494741)[0m + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.504741) + 3.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.514741) + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.504741)[0m + 3.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607581.064741) that ends in the past (1780607598.514741)[0m + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780607599.06550479 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.86sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.86sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.83sINFOobjective_server_nodeFound path in 6 iterations (0.00532422 s). + 4.88sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.90sINFOros2_control_node[2026-06-04 21:13:20.311] [info] Received new action goal + 4.90sINFOros2_control_node[2026-06-04 21:13:20.311] [info] Accepted new action goal | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 21:09:12.013] [info] Accepted new action goal + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Got request to cancel active goal. + 0.89sINFOros2_control_node[2026-06-04 21:09:12.799] [info] Canceling active goal... + 0.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607352.82488346 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607353.38548136 seconds. ×2 + 1.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607353.51563525 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607354.14608598 seconds. ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.53sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.44sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Received new action goal + 3.46sINFOros2_control_node[2026-06-04 21:09:15.374] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607389.09637523 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607389.68015337 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607389.78035545 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607390.34309268 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607389.09637523 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607389.68015337 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607389.78035545 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607390.34309268 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Accepted new action goal | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607389.09637523 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607389.68015337 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607389.78035545 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607390.34309268 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Accepted new action goal | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 21:09:47.705] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607389.09637523 seconds ×2 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607389.68015337 seconds. ×2 + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.41sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607389.78035545 seconds ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607390.34309268 seconds. ×2 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Received new action goal + 3.13sINFOros2_control_node[2026-06-04 21:09:50.467] [info] Accepted new action goal + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.42sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Received new action goal + 6.49sINFOros2_control_node[2026-06-04 21:09:53.827] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 31 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 (4.4e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 21:09:58.494] [info] Accepted new action goal + 2.43sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Received new action goal + 2.44sINFOros2_control_node[2026-06-04 21:10:00.846] [info] Accepted new action goal + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Got request to cancel active goal. + 2.48sINFOros2_control_node[2026-06-04 21:10:00.885] [info] Canceling active goal... + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607400.90633678 seconds ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.15sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607401.55098128 seconds. ×2 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 3.44sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Received new action goal + 4.40sINFOros2_control_node[2026-06-04 21:10:02.803] [info] Accepted new action goal + 5.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.55% of iterations over budget over 1:10.003 of wall time (118/21440). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00277872 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.22sINFOros2_control_node[2026-06-04 21:10:21.249] [info] Received new action goal + 0.22sINFOros2_control_node[2026-06-04 21:10:21.249] [info] Accepted new action goal + 0.66sINFOros2_control_node[2026-06-04 21:10:21.691] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-04 21:10:21.691] [info] Accepted new action goal + 1.76sINFOros2_control_node[2026-06-04 21:10:22.793] [info] Got request to cancel active goal. + 1.76sINFOros2_control_node[2026-06-04 21:10:22.793] [info] Canceling active goal... + 1.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780607422.80273938 seconds ×2 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780607423.42884707 seconds. ×2 + 2.52sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.52sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.52sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.52sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.55sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 2.56sINFOros2_control_node[2026-06-04 21:10:23.592] [info] Received new action goal + 2.56sINFOros2_control_node[2026-06-04 21:10:23.592] [info] Accepted new action goal + 4.99sINFOros2_control_node[2026-06-04 21:10:26.021] [info] Received new action goal + 4.99sINFOros2_control_node[2026-06-04 21:10:26.021] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607434.58482027 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607435.22341967 seconds. ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607435.28356361 seconds ×2 + 1.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607435.83960462 seconds. ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 1.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.39sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Accepted new action goal + 3.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607437.98974228 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607438.54789853 seconds. ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607435.22341967 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607435.28356361 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607435.83960462 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Accepted new action goal + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607437.98974228 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607438.54789853 seconds. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.45sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.45sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607435.22341967 seconds. ×2 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607435.28356361 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607435.83960462 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 21:10:35.973] [info] Accepted new action goal + 2.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607437.98974228 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607438.54789853 seconds. ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.45sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Received new action goal + 3.45sINFOros2_control_node[2026-06-04 21:10:38.672] [info] Accepted new action goal + 3.45sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.45sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.59sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.38sINFOobjective_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 ×2 + 3.39sINFOobjective_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 ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Received new action goal + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Received new action goal + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607446.68106365 seconds. ×2 + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.56sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.56sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308465186 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.63sINFOobjective_server_node[0;93m2026-06-04 21:10:47.308500388 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825779801 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 21:10:47.825820234 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:10:47.954669938 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957211327 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 21:10:47.957245429 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 21:10:48.328089061 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350517009 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 21:10:48.350567162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.58sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607449.25973701 seconds ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.59sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607449.98254561 seconds. ×2 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.38sINFOobjective_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 ×2 + 3.39sINFOobjective_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 ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Received new action goal + 3.53sINFOros2_control_node[2026-06-04 21:10:50.210] [info] Accepted new action goal + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.59sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.59sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Received new action goal + 6.39sINFOros2_control_node[2026-06-04 21:10:53.067] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 19 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780607502.04650807 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607502.62154508 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X___X] + 0.75sINFOros2_control_node[2026-06-04 21:11:42.795] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 21:11:42.795] [info] Accepted new action goal + 0.75sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.75sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.02sINFOobjective_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 ×2 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.10sINFOobjective_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 ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 130 errors · 1232 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×260 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×195 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×260 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×195 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×154 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×154 + 0.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.812745) ×2 + 0.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.812745)[0m ×2 + 0.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.872745) + 0.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.872745)[0m + 0.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.902745) + 0.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.902745)[0m + 0.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.932745) + 0.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.932745)[0m + 0.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.952745) + 0.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.952745)[0m + 0.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.992745) + 0.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607561.992745)[0m + 0.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.012745) + 0.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.012745)[0m + 0.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.082745) + 0.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.092745) + 0.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.082745)[0m + 0.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.092745)[0m + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.142745) + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.152745) + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.142745)[0m + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.152745)[0m + 0.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.282745) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.282745)[0m + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.292745) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.292745)[0m + 0.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.402745) + 0.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.402745)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.442745) + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.442745)[0m + 0.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.462745) + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.472745) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.462745)[0m + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.472745)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.502745) + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.502745)[0m + 0.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.582745) + 0.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.582745)[0m + 0.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.602745) + 0.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.602745)[0m + 0.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.642745) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.642745)[0m + 1.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.792745) + 1.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.792745)[0m + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.812745) + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.822745) + 1.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.832745) ×2 + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.812745)[0m + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.822745)[0m + 1.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607562.832745)[0m ×2 + 1.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.172745) + 1.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.172745)[0m + 1.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.222745) + 1.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.222745)[0m + 1.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.242745) + 1.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.242745)[0m + 1.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.262745) + 1.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.262745)[0m + 1.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.312745) + 1.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.312745)[0m + 1.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.452745) + 1.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.452745)[0m + 1.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.472745) + 1.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.482745) + 1.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.472745)[0m + 1.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.482745)[0m + 1.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.502745) + 1.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.502745)[0m + 1.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.522745) + 1.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.522745)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.592745) + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.602745) + 1.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.592745)[0m + 1.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.602745)[0m + 1.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.632745) + 1.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.632745)[0m + 1.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.662745) + 1.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.662745)[0m + 1.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.782745) + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.782745)[0m + 2.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.792745) + 2.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.792745)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.892745) + 2.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.892745)[0m + 2.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.922745) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.922745)[0m + 2.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.952745) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.952745)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.962745) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.962745)[0m + 2.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.982745) + 2.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607563.982745)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.082745) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.082745)[0m + 2.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.102745) + 2.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.102745)[0m + 2.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.132745) + 2.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.132745)[0m + 2.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.162745) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.162745)[0m + 2.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.282745) + 2.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.282745)[0m + 2.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.302745) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.302745)[0m + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.322745) ×2 + 2.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.332745) + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.322745)[0m ×2 + 2.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.332745)[0m + 2.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.562745) + 2.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.562745)[0m + 2.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.672745) + 2.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.672745)[0m + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.702745) + 2.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.702745)[0m + 2.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.712745) + 2.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.712745)[0m + 2.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.752745) + 2.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.752745)[0m + 3.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.792745) + 3.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.792745)[0m + 3.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607564.81306934 seconds ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.822745) + 3.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.822745)[0m + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.882745) + 3.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607547.652745) that ends in the past (1780607564.882745)[0m + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780607565.39982486 seconds. ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.79sINFOros2_control_node[2026-06-04 21:12:45.585] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-04 21:12:45.585] [info] Accepted new action goal | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607631.83328724 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607632.54123116 seconds. ×2 + 1.71sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.71sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.71sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.72sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.72sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.72sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.82sINFOobjective_server_nodePath shortcutter: [X______X] + 1.83sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607631.83328724 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607632.54123116 seconds. ×2 + 1.71sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.71sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.71sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.72sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.72sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.72sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 1.82sINFOobjective_server_nodePath shortcutter: [X______X] + 1.83sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-04 21:13:52.756] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 35 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X___________X] + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.01sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00263847 s). + 0.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 0.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Received new action goal + 0.18sINFOros2_control_node[2026-06-04 21:13:59.978] [info] Accepted new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Received new action goal + 2.70sINFOros2_control_node[2026-06-04 21:14:02.500] [info] Accepted new action goal + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Got request to cancel active goal. + 3.00sINFOros2_control_node[2026-06-04 21:14:02.801] [info] Canceling active goal... + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607642.81154990 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607643.42996931 seconds. ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 3.80sINFOobjective_server_nodePath shortcutter: [X________X] + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Received new action goal + 3.81sINFOros2_control_node[2026-06-04 21:14:03.613] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.92sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.92sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.16sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.007 of wall time (727/94398). Below 1% is expected on a non-realtime system.[0m + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 12 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780607653.81533480 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780607654.38028789 seconds. ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.81sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.83sINFOros2_control_node[2026-06-04 21:14:14.639] [info] Received new action goal + 0.83sINFOros2_control_node[2026-06-04 21:14:14.639] [info] Accepted new action goal + 0.99sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.99sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 16 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780607664.23816085 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.59sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780607664.82725525 seconds. ×2 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.69sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 0.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.70sINFOobjective_server_nodePath shortcutter: [X________X] + 0.71sINFOros2_control_node[2026-06-04 21:14:24.951] [info] Received new action goal + 0.71sINFOros2_control_node[2026-06-04 21:14:24.951] [info] Accepted new action goal + 2.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607674.90749383 seconds ×2 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607675.55418205 seconds. ×2 + 0.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607675.63436198 seconds ×2 + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.10sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607676.19130278 seconds. ×2 + 1.31sINFOobjective_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 '' ×2 + 1.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607676.21363997 seconds ×2 + 1.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607676.78270435 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Received new action goal + 1.99sINFOros2_control_node[2026-06-04 21:14:36.897] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 21:14:46.803] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607686.80897450 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607687.46504712 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 2.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 2.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607689.67517138 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.35sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607690.22860050 seconds. ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 3.43sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 3.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 3.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607690.23019505 seconds ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 3.86sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 286 errors · 25 warnings · 9910 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/2026-06-04-21-02-49-754673-96204a0fa699-10224 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.66sINFOros2_control_node-1process started with pid [10254] + 1.66sINFOmove_group-9process started with pid [10274] + 1.66sINFOparameter_manager_node-10process started with pid [10277] + 1.66sINFOwaypoint_manager_node-11process started with pid [10315] + 1.66sINFOmove_joint_resampler_node-12process started with pid [10317] + 1.66sINFOmove_end_effector_resampler_node-13process started with pid [10319] + 1.66sINFOobjective_server_node_main-14process started with pid [10321] + 1.66sINFOcomponent_container_mt-15process started with pid [10323] + 1.66sINFOexecute_objective_bridge-16process started with pid [10325] + 1.66sINFOui_teleop_bridge-17process started with pid [10327] + 1.66sINFOfoxglove_bridge-18process started with pid [10329] + 1.66sINFOtf2_web_republisher_node-19process started with pid [10331] + 1.66sINFOweb_video_server-20process started with pid [10360] + 1.66sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10256] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10258] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10260] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10262] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10264] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10268] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10271] + 1.68sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m ×2 + 1.68sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.01sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m ×2 + 2.03sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 2.03sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m ×2 + 2.05sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.09sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 2.09sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description"[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.09sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.09sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 2.09sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m ×2 + 2.09sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.46sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 2.47sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.75sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.76sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static"[0m ×2 + 2.76sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic"[0m ×2 + 2.79sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.84sINFOobjective_server_node[2026-06-04 21:02:54.253] [moveit_pro_license] [info] + 3.84sINFOobjective_server_node************************************************* ×6 + 3.84sINFOobjective_server_node* MoveIt Pro License ×3 + 3.84sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.01sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.01sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.01sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.01sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.01sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.01sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.03sWARNros2_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 + 4.04sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/color"[0m + 4.04sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/scene_camera/depth"[0m + 4.05sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/scene_camera/camera_info"[0m + 4.05sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 4.05sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 4.05sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/failure_reason_collector"[0m + 4.05sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/description"[0m + 4.05sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/scene_camera/color"[0m + 4.09sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.14sINFOobjective_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 + 4.14sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.16sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.16sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 4.23sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.26sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 4.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 4.43sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 4.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 4.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 4.47sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.47sINFOros2_control_node[2026-06-04 21:02:54.881] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.47sINFOros2_control_node[2026-06-04 21:02:54.881] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 4.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.57sINFOros2_control_node[2026-06-04 21:02:54.980] [info] First order lag filter time constant set to: 0.2 seconds + 4.57sINFOros2_control_node[2026-06-04 21:02:54.980] [info] Controller state will be published at 50 Hz. + 4.58sINFOros2_control_node[2026-06-04 21:02:54.988] [info] Registered `FollowJointTrajectory` action server. + 4.58sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 4.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.58sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 4.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.59sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 4.62sINFOros2_control_node[2026-06-04 21:02:55.031] [info] Controller state will be published at 10 Hz. + 4.62sINFOros2_control_node[2026-06-04 21:02:55.032] [info] VelocityForceController 'on_configure' succeeded. + 4.63sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 4.65sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 4.65sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 4.66sINFOros2_control_node[2026-06-04 21:02:55.066] [info] Controller state will be published at 20 Hz. + 4.66sINFOros2_control_node[2026-06-04 21:02:55.067] [info] JointVelocityController 'on_configure' succeeded. + 4.66sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 4.66sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.66sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 4.66sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.66sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.66sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.66sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.67sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 4.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 4.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 4.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/depth"[0m + 4.70sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/camera_info"[0m + 4.71sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/visual_markers"[0m + 4.71sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/velocity_force_controller/transition_event"[0m + 4.72sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/velocity_force_controller/command"[0m + 4.72sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.72sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/joint_velocity_controller/controller_state"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/joint_velocity_controller/command"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/joint_trajectory_controller/transition_event"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_controller/controller_state"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_state_broadcaster/transition_event"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.73sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/dynamic_joint_states"[0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/transition_event"[0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/velocity_force_controller/controller_state"[0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/blackboard_contents"[0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/behavior_tree_status"[0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/wrist_camera/points"[0m + 4.74sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m ×2 + 4.81sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.84sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.84sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 4.90sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 4.90sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 4.90sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 4.90sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 4.90sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 4.91sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 4.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10264] + 4.95sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 4.99sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10258] + 5.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10268] + 5.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10271] + 5.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10256] + 5.03sINFOmove_group ×4 + 5.03sINFOmove_group[92mYou can start planning now![0m ×2 + 5.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10260] + 5.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10262] + 5.24sWARNobjective_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 + 5.44sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 5.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×41 + 5.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×43 + 6.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780606976.63150597 seconds. + 6.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780606976.64167762 seconds + 6.50sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606977.19049168 seconds. + 6.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×20 + 7.02sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 7.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606978.30068827 seconds + 8.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606978.87949967 seconds. + 9.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606979.88964677 seconds + 10.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606980.44672036 seconds. + 10.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606980.46700764 seconds + 10.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606981.02320957 seconds. + 10.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606981.17366838 seconds + 11.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606981.82958794 seconds. + 11.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 11.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606981.87972951 seconds + 12.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606982.45582151 seconds. + 12.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 12.16sINFOobjective_server_nodeFound path in 0 iterations (2.1611e-05 s). + 12.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 12.17sINFOros2_control_node[2026-06-04 21:03:02.581] [info] Received new action goal + 12.17sINFOros2_control_node[2026-06-04 21:03:02.581] [info] Accepted new action goal + 14.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 0:10.001 of wall time (4/3149). Below 1% is expected on a non-realtime system.[0m + 14.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×35 + 14.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 14.67sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.68sINFOros2_control_node[2026-06-04 21:03:05.090] [info] Received new action goal + 14.68sINFOros2_control_node[2026-06-04 21:03:05.090] [info] Accepted new action goal + 18.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×6 + 18.42sINFOros2_control_node[2026-06-04 21:03:08.830] [info] Received new action goal + 18.42sINFOros2_control_node[2026-06-04 21:03:08.830] [info] Accepted new action goal + 21.73sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 21.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×3 + 21.74sINFOros2_control_node[2026-06-04 21:03:12.151] [info] Received new action goal + 21.74sINFOros2_control_node[2026-06-04 21:03:12.151] [info] Accepted new action goal + 22.17sINFOros2_control_node[2026-06-04 21:03:12.581] [info] Got request to cancel active goal. + 22.17sINFOros2_control_node[2026-06-04 21:03:12.581] [info] Canceling active goal... + 22.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780606992.59293556 seconds + 22.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780606993.21016502 seconds. + 22.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780606993.35028982 seconds + 23.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780606993.92611146 seconds. + 23.62sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 24.67sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×4 + 24.67sINFOobjective_server_nodePath shortcutter: [X______X] ×6 + 24.68sINFOros2_control_node[2026-06-04 21:03:15.090] [info] Received new action goal + 24.68sINFOros2_control_node[2026-06-04 21:03:15.090] [info] Accepted new action goal + 56.71sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. + 56.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780607027.11426234 seconds + 57.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607027.85428667 seconds. + 57.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607027.90442324 seconds + 58.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607028.46307611 seconds. + 58.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 58.19sINFOros2_control_node[2026-06-04 21:03:48.596] [info] Received new action goal + 58.19sINFOros2_control_node[2026-06-04 21:03:48.596] [info] Accepted new action goal + 58.36sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 61.53sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 61.54sINFOros2_control_node[2026-06-04 21:03:51.947] [info] Received new action goal + 61.54sINFOros2_control_node[2026-06-04 21:03:51.947] [info] Accepted new action goal + 63.88sINFOros2_control_node[2026-06-04 21:03:54.284] [info] Received new action goal + 63.88sINFOros2_control_node[2026-06-04 21:03:54.284] [info] Accepted new action goal + 66.22sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 66.23sINFOros2_control_node[2026-06-04 21:03:56.635] [info] Received new action goal + 66.23sINFOros2_control_node[2026-06-04 21:03:56.635] [info] Accepted new action goal + 68.26sINFOros2_control_node[2026-06-04 21:03:58.673] [info] Got request to cancel active goal. + 68.26sINFOros2_control_node[2026-06-04 21:03:58.673] [info] Canceling active goal... + 68.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607038.68616247 seconds + 68.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607039.31956697 seconds. + 68.94sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/preview_solution"[0m + 68.94sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/agent_event"[0m + 69.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×3 + 69.12sINFOros2_control_node[2026-06-04 21:03:59.527] [info] Received new action goal + 69.12sINFOros2_control_node[2026-06-04 21:03:59.527] [info] Accepted new action goal + 72.48sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/pcd_pointcloud_captures"[0m + 72.98sINFOfoxglove_bridgeRemoving channel 60 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 74.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.47% of iterations over budget over 1:10.002 of wall time (102/21536). Below 1% is expected on a non-realtime system.[0m + 74.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 74.76sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 74.99sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/solution"[0m + 75.04sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 75.04sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 75.05sINFOobjective_server_nodePath shortcutter: [X________________X] ×3 + 75.06sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). + 75.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 75.11sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 75.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 75.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 75.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 75.21sINFOobjective_server_nodeFound path in 1 iterations (0.00282624 s). + 75.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 75.32sINFOobjective_server_nodeFound path in 1 iterations (0.0037337 s). + 75.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 75.43sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 75.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 75.57sINFOros2_control_node[2026-06-04 21:04:05.978] [info] Received new action goal + 75.57sINFOros2_control_node[2026-06-04 21:04:05.978] [info] Accepted new action goal + 78.05sINFOparameter_manager_nodeRetrieving joint state from parameter manager. + 78.33sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 78.34sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server + 78.34sINFOparameter_manager_nodeClearing stored parameters in parameter manager. + 78.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780607048.76294827 seconds + 79.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780607050.29052877 seconds. + 80.06sINFOfoxglove_bridgeRemoving channel 58 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 80.06sINFOfoxglove_bridgeRemoving channel 61 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 80.10sINFOros2_control_node[2026-06-04 21:04:10.504] [info] Received new action goal + 80.10sINFOros2_control_node[2026-06-04 21:04:10.504] [info] Accepted new action goal + 89.12sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 89.62sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 90.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780607060.57083535 seconds + 90.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780607061.15204954 seconds. + 90.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 90.88sINFOobjective_server_nodePath shortcutter: [X________X] ×3 + 90.90sINFOros2_control_node[2026-06-04 21:04:21.305] [info] Received new action goal + 90.90sINFOros2_control_node[2026-06-04 21:04:21.305] [info] Accepted new action goal + 91.13sINFOfoxglove_bridgeRemoving channel 59 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 93.35sINFOros2_control_node[2026-06-04 21:04:23.754] [info] Received new action goal + 93.35sINFOros2_control_node[2026-06-04 21:04:23.754] [info] Accepted new action goal +101.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607072.32311940 seconds +102.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607072.87850761 seconds. +102.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 +102.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 +102.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607072.94867349 seconds +103.10sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607073.50752807 seconds. +103.22sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +103.23sINFOros2_control_node[2026-06-04 21:04:33.641] [info] Received new action goal +103.23sINFOros2_control_node[2026-06-04 21:04:33.641] [info] Accepted new action goal +105.25sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607075.64771605 seconds +105.92sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607076.33253598 seconds. +106.04sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +106.05sINFOros2_control_node[2026-06-04 21:04:36.456] [info] Received new action goal +106.05sINFOros2_control_node[2026-06-04 21:04:36.456] [info] Accepted new action goal +106.25sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/moveit_pro_ui/switch_primary_view"[0m +111.66sINFOobjective_server_node[0;93m2026-06-04 21:04:42.069351055 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +111.66sINFOobjective_server_node[0;93m2026-06-04 21:04:42.069385247 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.23sINFOobjective_server_node[0;93m2026-06-04 21:04:42.642599837 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +112.23sINFOobjective_server_node[0;93m2026-06-04 21:04:42.642641289 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.39sINFOobjective_server_node[0;93m2026-06-04 21:04:42.795516491 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +112.39sINFOobjective_server_node[0;93m2026-06-04 21:04:42.798031637 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +112.39sINFOobjective_server_node[0;93m2026-06-04 21:04:42.798062609 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.73sINFOobjective_server_node[0;93m2026-06-04 21:04:43.135326977 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +112.75sINFOobjective_server_node[0;93m2026-06-04 21:04:43.157501875 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +112.75sINFOobjective_server_node[0;93m2026-06-04 21:04:43.157556389 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +114.14sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607084.55052114 seconds +114.31sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/masks_visualization"[0m +114.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607085.16700315 seconds. +115.32sINFOfoxglove_bridgeRemoving channel 64 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +115.32sINFOfoxglove_bridgeRemoving channel 63 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +115.42sINFOobjective_server_node[0;93m2026-06-04 21:04:45.825058731 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.42sINFOobjective_server_node[0;93m2026-06-04 21:04:45.825107255 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +115.94sINFOobjective_server_node[0;93m2026-06-04 21:04:46.345427453 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.94sINFOobjective_server_node[0;93m2026-06-04 21:04:46.345465255 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.08sINFOobjective_server_node[0;93m2026-06-04 21:04:46.470105367 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +116.08sINFOobjective_server_node[0;93m2026-06-04 21:04:46.473446728 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.08sINFOobjective_server_node[0;93m2026-06-04 21:04:46.473475520 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.42sINFOobjective_server_node[0;93m2026-06-04 21:04:46.828604871 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +116.44sINFOobjective_server_node[0;93m2026-06-04 21:04:46.844823404 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.44sINFOobjective_server_node[0;93m2026-06-04 21:04:46.844863317 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +117.32sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607087.72125053 seconds +117.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m +118.02sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607088.42533493 seconds. +118.11sINFOobjective_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 +118.12sINFOobjective_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 +118.34sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +118.35sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/solution"[0m +118.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×3 +118.39sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 +118.41sINFOros2_control_node[2026-06-04 21:04:48.822] [info] Received new action goal +118.41sINFOros2_control_node[2026-06-04 21:04:48.822] [info] Accepted new action goal +121.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 +121.29sINFOros2_control_node[2026-06-04 21:04:51.699] [info] Received new action goal +121.29sINFOros2_control_node[2026-06-04 21:04:51.699] [info] Accepted new action goal +124.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 +124.47sINFOros2_control_node[2026-06-04 21:04:54.880] [info] Received new action goal +124.47sINFOros2_control_node[2026-06-04 21:04:54.880] [info] Accepted new action goal +127.45sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 +127.50sINFOros2_control_node[2026-06-04 21:04:57.908] [info] Received new action goal +127.50sINFOros2_control_node[2026-06-04 21:04:57.908] [info] Accepted new action goal +130.46sINFOobjective_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 +134.04sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.57% of iterations over budget over 2:10.003 of wall time (226/39916). Below 1% is expected on a non-realtime system.[0m +137.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 +138.81sINFOros2_control_node[2026-06-04 21:05:09.220] [info] Received new action goal +138.81sINFOros2_control_node[2026-06-04 21:05:09.220] [info] Accepted new action goal +140.01sINFOobjective_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 +140.02sINFOobjective_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 +140.29sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +140.31sINFOros2_control_node[2026-06-04 21:05:10.723] [info] Received new action goal +140.31sINFOros2_control_node[2026-06-04 21:05:10.723] [info] Accepted new action goal +142.58sINFOros2_control_node[2026-06-04 21:05:12.990] [info] Received new action goal +142.58sINFOros2_control_node[2026-06-04 21:05:12.991] [info] Accepted new action goal +145.62sINFOros2_control_node[2026-06-04 21:05:16.028] [info] Received new action goal +145.62sINFOros2_control_node[2026-06-04 21:05:16.028] [info] Accepted new action goal +148.21sINFOobjective_server_nodeFound path in 0 iterations (1.051e-06 s). +148.25sINFOros2_control_node[2026-06-04 21:05:18.655] [info] Received new action goal +148.25sINFOros2_control_node[2026-06-04 21:05:18.655] [info] Accepted new action goal +158.96sINFOros2_control_node[2026-06-04 21:05:29.371] [info] Received new action goal +158.96sINFOros2_control_node[2026-06-04 21:05:29.371] [info] Accepted new action goal +160.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780607130.52651763 seconds +160.80sINFOfoxglove_bridgeRemoving channel 66 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +160.83sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780607131.23682761 seconds. +162.04sINFOobjective_server_nodePath shortcutter: [X__________________________X] +162.05sINFOros2_control_node[2026-06-04 21:05:32.461] [info] Received new action goal +162.05sINFOros2_control_node[2026-06-04 21:05:32.461] [info] Accepted new action goal +168.13sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 +168.14sINFOobjective_server_nodePath shortcutter: [X________________________X] +168.16sINFOros2_control_node[2026-06-04 21:05:38.566] [info] Received new action goal +168.16sINFOros2_control_node[2026-06-04 21:05:38.566] [info] Accepted new action goal +171.77sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780607142.17870760 seconds +172.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607142.76932549 seconds. +172.40sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/agent_event"[0m +172.53sINFOobjective_server_nodePath shortcutter: [X___X] ×2 +172.56sINFOros2_control_node[2026-06-04 21:05:42.961] [info] Received new action goal +172.56sINFOros2_control_node[2026-06-04 21:05:42.961] [info] Accepted new action goal +173.82sINFOobjective_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 +173.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +176.65sINFOros2_control_nodeReceived new action goal[0m ×4053 +176.65sINFOros2_control_nodeAccepted new action goal[0m ×3800 +180.88sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×7 +181.00sINFOros2_control_nodeGoal reached, success![0m ×891 +194.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.71% of iterations over budget over 3:10.009 of wall time (410/58155). Below 1% is expected on a non-realtime system.[0m +213.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607183.723283)[0m +213.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607183.733283)[0m +213.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607183.783283)[0m +214.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607184.453283)[0m +214.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607184.843283)[0m +214.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607184.863283)[0m +214.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607185.073283)[0m +214.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607185.123283)[0m +215.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607185.573283)[0m +215.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607185.603283)[0m +215.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607185.773283)[0m ×2 +215.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607185.933283)[0m +215.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607185.943283)[0m +215.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607186.303283)[0m +215.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607186.373283)[0m +216.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607186.59707713 seconds +216.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607181.753283) that ends in the past (1780607186.623283)[0m +216.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607187.19613814 seconds. +216.95sINFOobjective_server_nodePath shortcutter: [X_________________________X] +216.96sINFOros2_control_node[2026-06-04 21:06:27.371] [info] Received new action goal +216.96sINFOros2_control_node[2026-06-04 21:06:27.371] [info] Accepted new action goal +221.99sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. +221.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607192.40106416 seconds +222.59sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780607192.99762774 seconds. +222.75sINFOros2_control_node[2026-06-04 21:06:33.162] [info] Received new action goal +222.75sINFOros2_control_node[2026-06-04 21:06:33.162] [info] Accepted new action goal +222.93sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/moveit_pro_ui/switch_primary_view"[0m +225.94sINFOros2_control_node[2026-06-04 21:06:36.345] [info] Received new action goal +225.94sINFOros2_control_node[2026-06-04 21:06:36.345] [info] Accepted new action goal +228.33sINFOros2_control_node[2026-06-04 21:06:38.740] [info] Received new action goal +228.33sINFOros2_control_node[2026-06-04 21:06:38.740] [info] Accepted new action goal +231.99sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/pcd_pointcloud_captures"[0m +232.50sINFOfoxglove_bridgeRemoving channel 69 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +235.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.083126)[0m ×2 +235.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.113126)[0m ×2 +236.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.493126)[0m +236.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.503126)[0m +236.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.563126)[0m +236.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.713126)[0m +236.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.763126)[0m +236.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.853126)[0m +236.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.893126)[0m +236.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.903126)[0m +236.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.913126)[0m +236.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607206.923126)[0m +236.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.193126)[0m +236.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.313126)[0m +236.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.323126)[0m +237.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.403126)[0m +237.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.533126)[0m +237.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.543126)[0m +237.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.563126)[0m +237.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.583126)[0m +237.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.593126)[0m +237.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.913126)[0m +237.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607207.983126)[0m +237.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.013126)[0m +237.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.103126)[0m +237.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.243126)[0m +237.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.333126)[0m +237.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.363126)[0m ×2 +238.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.413126)[0m +238.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.653126)[0m +238.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.683126)[0m +238.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.783126)[0m +238.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.793126)[0m +238.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.843126)[0m ×2 +238.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607208.993126)[0m +238.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.013126)[0m +238.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.033126)[0m ×2 +238.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.213126)[0m +238.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.223126)[0m +238.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.343126)[0m +239.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.403126)[0m +239.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.413126)[0m +239.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.473126)[0m +239.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.623126)[0m ×2 +239.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.673126)[0m ×2 +239.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.783126)[0m +239.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.803126)[0m +239.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607209.833126)[0m +239.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.123126)[0m +239.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.243126)[0m +239.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.273126)[0m ×2 +240.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.453126)[0m +240.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.463126)[0m +240.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.473126)[0m +240.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.483126)[0m +240.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.653126)[0m +240.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.673126)[0m +240.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.863126)[0m +240.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.883126)[0m +240.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607210.913126)[0m +240.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.003126)[0m +240.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.083126)[0m ×2 +240.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.113126)[0m +240.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.123126)[0m +240.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.223126)[0m +240.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.253126)[0m +240.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.263126)[0m +241.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.643126)[0m +241.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.673126)[0m +241.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.723126)[0m ×2 +241.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.903126)[0m ×2 +241.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.913126)[0m +241.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607211.933126)[0m +241.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.093126)[0m +241.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.123126)[0m +241.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.153126)[0m +241.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.303126)[0m +241.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.333126)[0m +242.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.423126)[0m +242.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.533126)[0m +242.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.553126)[0m +242.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.583126)[0m ×2 +242.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.683126)[0m +242.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.693126)[0m +242.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.733126)[0m +242.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.743126)[0m +242.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.843126)[0m +242.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607212.873126)[0m +242.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.003126)[0m +242.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.033126)[0m +242.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.153126)[0m +242.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.163126)[0m +242.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.193126)[0m +242.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.233126)[0m +243.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.403126)[0m +243.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.423126)[0m +243.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.443126)[0m +243.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.613126)[0m ×2 +243.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.643126)[0m +243.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.763126)[0m +243.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.823126)[0m +243.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607213.853126)[0m +243.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.063126)[0m +243.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.093126)[0m +243.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.103126)[0m +243.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.183126)[0m +243.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.193126)[0m +243.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.213126)[0m +243.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.243126)[0m +243.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.263126)[0m +243.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.383126)[0m +244.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.483126)[0m +244.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.503126)[0m +244.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.533126)[0m +244.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.563126)[0m ×2 +244.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.673126)[0m +244.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.703126)[0m +244.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.723126)[0m +244.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.733126)[0m +244.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.883126)[0m +244.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.903126)[0m +244.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.913126)[0m +244.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.923126)[0m +244.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607214.943126)[0m +244.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.103126)[0m +244.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.133126)[0m ×2 +244.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.163126)[0m +244.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.283126)[0m +244.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.333126)[0m +244.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.343126)[0m +245.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.413126)[0m +245.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.553126)[0m +245.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.563126)[0m +245.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.583126)[0m +245.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.603126)[0m +245.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.613126)[0m +245.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.683126)[0m +245.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.693126)[0m +245.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.713126)[0m +245.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.733126)[0m +245.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.763126)[0m +245.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607215.863126)[0m +245.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.033126)[0m +245.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.053126)[0m +245.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.083126)[0m +245.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.243126)[0m +245.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.263126)[0m ×2 +246.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.413126)[0m +246.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.423126)[0m ×2 +246.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.433126)[0m +246.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.463126)[0m +246.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607216.493126)[0m +246.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.103126)[0m +246.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.123126)[0m +246.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.193126)[0m +246.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.203126)[0m +246.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.233126)[0m +246.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.253126)[0m +246.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.283126)[0m +246.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.373126)[0m +247.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.703126)[0m +247.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.743126)[0m +247.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.773126)[0m +247.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.923126)[0m +247.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.933126)[0m +247.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.943126)[0m +247.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.953126)[0m +247.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607217.993126)[0m +247.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.013126)[0m +248.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.623126)[0m +248.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.693126)[0m +248.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.703126)[0m +248.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.713126)[0m +248.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.743126)[0m +248.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.753126)[0m +248.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607218.863126)[0m +248.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607219.183126)[0m ×2 +248.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607219.233126)[0m +249.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607219.413126)[0m +249.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607219.423126)[0m +249.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607219.433126)[0m ×2 +249.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607219.453126)[0m +249.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.133126)[0m +249.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.213126)[0m +249.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.233126)[0m +249.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.243126)[0m +249.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.273126)[0m ×2 +249.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.293126)[0m +250.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.733126)[0m +250.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.743126)[0m +250.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.773126)[0m +250.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.793126)[0m ×2 +250.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.933126)[0m +250.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.953126)[0m +250.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.963126)[0m +250.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607220.973126)[0m +250.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607221.033126)[0m +250.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607221.233126)[0m +251.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607221.733126)[0m +251.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607221.743126)[0m +251.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607221.763126)[0m +251.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607221.793126)[0m ×2 +251.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.143126)[0m +252.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.463126)[0m +252.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.473126)[0m +252.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.483126)[0m ×2 +252.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.493126)[0m +252.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.533126)[0m +252.37sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780607222.77699566 seconds +252.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.823126)[0m ×2 +252.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.833126)[0m +252.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.853126)[0m +252.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780607205.373126) that ends in the past (1780607222.873126)[0m +253.11sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780607223.52392960 seconds. +253.21sINFOfoxglove_bridgeRemoving channel 68 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m +254.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.75% of iterations over budget over 4:10.010 of wall time (575/76269). Below 1% is expected on a non-realtime system.[0m +254.29sINFOobjective_server_nodeFound path in 6 iterations (0.00679929 s). +254.34sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] +254.35sINFOros2_control_node[2026-06-04 21:07:04.762] [info] Received new action goal +254.35sINFOros2_control_node[2026-06-04 21:07:04.762] [info] Accepted new action goal +263.99sINFOobjective_server_node[0;m[0;93m2026-06-04 21:07:14.401609756 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +263.99sINFOobjective_server_node[0;93m2026-06-04 21:07:14.401665030 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +264.52sINFOobjective_server_node[0;93m2026-06-04 21:07:14.932720087 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +264.52sINFOobjective_server_node[0;93m2026-06-04 21:07:14.932757850 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +264.64sINFOobjective_server_node[0;93m2026-06-04 21:07:15.048287287 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +264.64sINFOobjective_server_node[0;93m2026-06-04 21:07:15.051446977 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +264.64sINFOobjective_server_node[0;93m2026-06-04 21:07:15.051461438 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +265.00sINFOobjective_server_node[0;93m2026-06-04 21:07:15.407187159 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +265.02sINFOobjective_server_node[0;93m2026-06-04 21:07:15.427853420 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +265.02sINFOobjective_server_node[0;93m2026-06-04 21:07:15.427894753 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +265.83sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization"[0m +271.37sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m +271.48sINFOobjective_server_nodeFound path in 4 iterations (0.00348377 s). +271.55sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +271.58sINFOobjective_server_nodeFound path in 12 iterations (0.00413012 s). +271.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] +271.67sINFOobjective_server_nodeFound path in 1 iterations (0.0024645 s). +271.72sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] +271.74sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). +271.77sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +271.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +271.84sINFOobjective_server_nodeFound path in 12 iterations (0.00463325 s). +271.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] +271.92sINFOobjective_server_nodeFound path in 1 iterations (0.00355257 s). +271.97sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] +272.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +272.13sINFOobjective_server_nodeFound path in 4 iterations (0.00550597 s). +272.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] +272.23sINFOobjective_server_nodeFound path in 4 iterations (0.00285046 s). +272.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] +272.35sINFOobjective_server_nodeFound path in 1 iterations (0.0059335 s). +272.40sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] +272.42sINFOobjective_server_nodeFound path in 1 iterations (0.0026707 s). +272.50sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] +272.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +272.65sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X] +272.68sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). +272.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] +272.80sINFOros2_control_node[2026-06-04 21:07:23.204] [info] Received new action goal +272.80sINFOros2_control_node[2026-06-04 21:07:23.204] [info] Accepted new action goal +277.80sINFOros2_control_node[2026-06-04 21:07:28.208] [info] Received new action goal +277.80sINFOros2_control_node[2026-06-04 21:07:28.208] [info] Accepted new action goal +279.38sINFOros2_control_node[2026-06-04 21:07:29.791] [info] Received new action goal +279.38sINFOros2_control_node[2026-06-04 21:07:29.791] [info] Accepted new action goal +280.61sINFOobjective_server_nodePlanning for 4 path waypoints. +280.66sINFOros2_control_node[2026-06-04 21:07:31.071] [info] Received new action goal +280.66sINFOros2_control_node[2026-06-04 21:07:31.071] [info] Accepted new action goal +286.10sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607256.49700975 seconds +286.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607257.17644668 seconds. +286.97sINFOros2_control_node[2026-06-04 21:07:37.380] [info] Received new action goal +286.97sINFOros2_control_node[2026-06-04 21:07:37.380] [info] Accepted new action goal +287.01sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +287.02sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m +287.02sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/preview_solution"[0m +290.04sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/pcd_pointcloud_captures"[0m +290.54sINFOfoxglove_bridgeRemoving channel 73 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +292.19sINFOobjective_server_nodeFound path in 0 iterations (1.9831e-05 s). +292.19sINFOobjective_server_nodePath shortcutter: [X___________X] +292.21sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). +292.27sINFOobjective_server_nodeFound path in 1 iterations (0.00257066 s). +292.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] +292.37sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +292.39sINFOros2_control_node[2026-06-04 21:07:42.794] [info] Received new action goal +292.39sINFOros2_control_node[2026-06-04 21:07:42.794] [info] Accepted new action goal +292.57sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution"[0m +294.91sINFOros2_control_node[2026-06-04 21:07:45.316] [info] Received new action goal +294.91sINFOros2_control_node[2026-06-04 21:07:45.316] [info] Accepted new action goal +296.75sINFOros2_control_node[2026-06-04 21:07:47.156] [info] Received new action goal +296.75sINFOros2_control_node[2026-06-04 21:07:47.157] [info] Accepted new action goal +297.18sINFOros2_control_node[2026-06-04 21:07:47.586] [info] Got request to cancel active goal. +297.18sINFOros2_control_node[2026-06-04 21:07:47.586] [info] Canceling active goal... +297.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607267.59863520 seconds +297.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607268.30526376 seconds. +298.00sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). +298.01sINFOros2_control_node[2026-06-04 21:07:48.419] [info] Received new action goal +298.01sINFOros2_control_node[2026-06-04 21:07:48.419] [info] Accepted new action goal +298.11sINFOfoxglove_bridgeRemoving channel 67 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +298.11sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m +299.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +308.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780607278.59653878 seconds +308.75sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780607279.16049910 seconds. +309.02sINFOros2_control_node[2026-06-04 21:07:59.427] [info] Received new action goal +309.02sINFOros2_control_node[2026-06-04 21:07:59.427] [info] Accepted new action goal +309.22sINFOfoxglove_bridgeRemoving channel 72 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +313.03sINFOros2_control_node[2026-06-04 21:08:03.434] [info] Received new action goal +313.03sINFOros2_control_node[2026-06-04 21:08:03.434] [info] Accepted new action goal +314.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 5:10.011 of wall time (653/94596). Below 1% is expected on a non-realtime system.[0m +318.61sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780607289.01994991 seconds +319.22sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780607289.63371873 seconds. +319.31sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m +319.36sINFOros2_control_node[2026-06-04 21:08:09.767] [info] Received new action goal +319.36sINFOros2_control_node[2026-06-04 21:08:09.767] [info] Accepted new action goal +329.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607300.08643031 seconds +330.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607300.64395690 seconds. +330.38sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m +330.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607300.83426213 seconds +330.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607301.40133405 seconds. +331.01sINFOobjective_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 '' +331.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607301.42321992 seconds +331.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607302.06684113 seconds. +331.77sINFOros2_control_node[2026-06-04 21:08:22.180] [info] Received new action goal +331.77sINFOros2_control_node[2026-06-04 21:08:22.180] [info] Accepted new action goal +335.06sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +335.06sINFOros2_control_node[2026-06-04 21:08:25.471] [info] Received new action goal +335.06sINFOros2_control_node[2026-06-04 21:08:25.471] [info] Accepted new action goal +335.06sINFOros2_control_node[2026-06-04 21:08:25.472] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +341.69sINFOros2_control_node[2026-06-04 21:08:32.101] [info] Got request to cancel active goal. +341.70sINFOros2_control_node[2026-06-04 21:08:32.101] [info] Canceling active goal... +341.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607312.11337733 seconds +342.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607312.67126203 seconds. +342.47sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m +344.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607315.29150438 seconds +345.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607315.84583616 seconds. +345.44sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +345.44sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +345.44sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +345.44sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607315.84730291 seconds +345.49sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m +345.49sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/secret_msg"[0m +346.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607316.49046350 seconds. +346.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607316.49114728 seconds +346.50sINFOfoxglove_bridgeRemoving channel 77 for topic "/secret_msg" (std_msgs/msg/String)[0m +346.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607317.04285622 seconds. +347.00sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m +347.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607317.72298789 seconds +347.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +347.80sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m +352.81sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.81sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.81sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.82sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.82sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.82sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.82sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.82sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.83sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.83sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.83sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.83sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.83sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +352.83sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] +352.84sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] +352.84sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] +352.85sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +352.86sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +352.87sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +352.88sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +352.88sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +352.89sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +352.90sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +352.91sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +352.92sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +352.93sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +352.93sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +352.93sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +352.93sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m +352.93sINFOfoxglove_bridgeShutting down foxglove_bridge[0m +352.93sERRORui_teleop_bridgeTraceback (most recent call last): +352.93sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +352.93sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +352.93sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.10/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main +352.93sINFOui_teleop_bridgerclpy.shutdown() +352.93sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +352.93sINFOui_teleop_bridge_shutdown(context=context) +352.93sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +352.93sINFOui_teleop_bridgereturn context.shutdown() +352.93sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +352.93sINFOui_teleop_bridgeself.__context.shutdown() +352.93sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +352.93sWARNparameter_manager_nodeROS node was shutdown. +352.93sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +352.93sINFOros2_control_nodeShutdown request received....[0m +352.94sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +352.94sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +352.94sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +352.94sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +352.94sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +352.94sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +352.94sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +352.94sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +352.94sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +352.94sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +352.94sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +352.94sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +352.94sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +352.94sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +352.94sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +352.94sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +352.94sINFOros2_control_nodeShutting down the controller manager.[0m +353.00sINFOobjective_server_node[0;m[2026-06-04 21:08:43.413] [moveit_pro_license] [info] +353.00sINFOobjective_server_node* Application has successfully terminated +353.05sINFOfoxglove_bridgeShutdown complete[0m +353.05sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10331] +353.05sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system +353.06sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +353.06sINFOweb_video_server-20process has finished cleanly [pid 10360] +353.08sINFOobjective_server_nodecorrupted double-linked list +353.08sERRORobjective_server_nodeStack trace (most recent call last) in thread 10720: +353.10sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +353.10sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffaba073a83, in __clone +353.10sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9fe2ac2, in +353.10sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7ffa9477521b, in +353.10sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7ffa94729674, in +353.10sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7ffa94718339, in +353.10sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7ffa94708ede, in +353.10sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9ff3452, in free +353.10sERRORui_teleop_bridge-17process has died [pid 10327, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_gwbqfl_i']. +353.10sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9ff0e9f, in +353.10sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9fef968, in +353.10sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9fef7cb, in +353.10sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9feecfb, in +353.10sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9fd7676, in +353.10sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9f767f2, in abort +353.10sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9f90475, in raise +353.10sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffab9fe49fc, in pthread_kill +353.10sERRORobjective_server_nodeAborted (Signal sent by tkill() 10321 0) +353.11sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10317] +353.12sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10319] +353.13sINFOexecute_objective_bridge-16process has finished cleanly [pid 10325] +353.84sERRORobjective_server_node_main-14process has died [pid 10321, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_2c9gi1xx --params-file /tmp/launch_params_fdseeyp3 --params-file /tmp/launch_params_3gxhhxew --params-file /tmp/launch_params_cx433qx7 --params-file /tmp/launch_params_5n2omn9k --params-file /tmp/launch_params_918waxat']. +353.84sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +353.96sINFOparameter_manager_node-10process has finished cleanly [pid 10277] +353.97sINFOwaypoint_manager_node-11process has finished cleanly [pid 10315] +354.04sINFOcomponent_container_mt-15process has finished cleanly [pid 10323] +354.24sINFOmove_group-9process has finished cleanly [pid 10274] +354.65sINFOros2_control_node-1process has finished cleanly [pid 10254] +354.86sINFOfoxglove_bridge-18process has finished cleanly [pid 10329] +354.86sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system +359.54sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-21-08-49-305691-96204a0fa699-11649 +361.12sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +361.20sINFOros2_control_node-1process started with pid [11679] +361.20sINFOmove_group-9process started with pid [11698] +361.20sINFOparameter_manager_node-10process started with pid [11701] +361.20sINFOwaypoint_manager_node-11process started with pid [11740] +361.20sINFOmove_joint_resampler_node-12process started with pid [11742] +361.20sINFOmove_end_effector_resampler_node-13process started with pid [11744] +361.20sINFOobjective_server_node_main-14process started with pid [11746] +361.20sINFOcomponent_container_mt-15process started with pid [11748] +361.20sINFOexecute_objective_bridge-16process started with pid [11750] +361.20sINFOui_teleop_bridge-17process started with pid [11752] +361.20sINFOfoxglove_bridge-18process started with pid [11754] +361.20sINFOtf2_web_republisher_node-19process started with pid [11756] +361.20sINFOweb_video_server-20process started with pid [11773] +361.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11681] +361.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11683] +361.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11685] +361.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11687] +361.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11689] +361.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11692] +361.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11695] +361.25sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +361.40sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) +361.41sINFOfoxglove_bridgeServer listening on port 3201 +361.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" +361.43sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" +361.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +361.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +361.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +361.46sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" +361.47sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" +361.47sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description" +361.47sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" +361.48sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" +361.48sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" +362.08sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static" +362.08sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic" +362.10sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +362.10sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +362.11sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world" +362.13sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene" +362.13sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf" +362.14sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" +362.14sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" +362.14sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" +362.14sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" +362.14sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +362.14sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" +362.14sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" +362.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" +362.15sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" +362.15sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +362.17sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +362.22sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +362.23sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +363.41sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics" +363.41sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/statistics"[0m +363.41sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description" +363.41sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/description"[0m +363.42sINFOobjective_server_node[2026-06-04 21:08:53.834] [moveit_pro_license] [info] +363.53sINFOcontroller_managerupdate rate is 600 Hz +363.53sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +363.53sWARNcontroller_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. +363.61sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +363.62sINFOcontroller_managerLoading controller 'velocity_force_controller' +363.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +363.76sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +363.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +363.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +363.78sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +363.78sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +363.79sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +363.79sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +363.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' +363.88sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +363.94sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap" +363.94sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/transient_monitored_planning_scene_without_octomap"[0m +363.95sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers" +363.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +363.95sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/visual_markers"[0m +363.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +363.96sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info" +363.96sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/camera_info"[0m +363.96sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/velocity_force_controller/transition_event" +363.96sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/velocity_force_controller/transition_event"[0m +363.96sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/points" +363.96sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event" +363.96sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/points"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/robotiq_gripper_controller/transition_event"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/depth" +363.97sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_state_broadcaster/transition_event" +363.97sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color" +363.97sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/scene_camera/depth"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/joint_state_broadcaster/transition_event"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/wrench" +363.97sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/force_torque_sensor_broadcaster/transition_event" +363.97sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/force_torque_sensor_broadcaster/wrench"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/force_torque_sensor_broadcaster/transition_event"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector" +363.97sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/color" +363.97sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents" +363.97sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/failure_reason_collector"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/scene_camera/color"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status" +363.97sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event" +363.97sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/points" +363.97sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/camera_info" +363.97sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/depth" +363.97sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_trajectory_admittance_controller/transition_event"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/points"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/camera_info"[0m +363.97sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/depth"[0m +363.98sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +363.98sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +363.99sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +364.07sINFOros2_control_node[2026-06-04 21:08:54.479] [info] Controller state will be published at 10 Hz. +364.07sINFOros2_control_node[2026-06-04 21:08:54.481] [info] VelocityForceController 'on_configure' succeeded. +364.07sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +364.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +364.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +364.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +364.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +364.08sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +364.08sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +364.08sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +364.08sINFOros2_control_node[2026-06-04 21:08:54.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +364.08sINFOros2_control_node[2026-06-04 21:08:54.492] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +364.12sINFOros2_control_node[2026-06-04 21:08:54.526] [info] First order lag filter time constant set to: 0.2 seconds +364.12sINFOros2_control_node[2026-06-04 21:08:54.526] [info] Controller state will be published at 50 Hz. +364.12sINFOros2_control_node[2026-06-04 21:08:54.532] [info] Registered `FollowJointTrajectory` action server. +364.12sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +364.16sINFOros2_control_node[2026-06-04 21:08:54.569] [info] Controller state will be published at 20 Hz. +364.16sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +364.16sINFOros2_control_node[2026-06-04 21:08:54.570] [info] JointVelocityController 'on_configure' succeeded. +364.16sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +364.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +364.16sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +364.17sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +364.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +364.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +364.19sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +364.19sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +364.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 11692] +364.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 11689] +364.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 11687] +364.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 11685] +364.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 11695] +364.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 11683] +364.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 11681] +364.76sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command" +364.76sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event" +364.76sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/velocity_force_controller/command"[0m +364.76sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/trajectory_execution_event"[0m +364.76sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state" +364.76sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/transition_event" +364.76sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/velocity_force_controller/controller_state"[0m +364.76sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/transition_event"[0m +364.76sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/controller_state" +364.76sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/command" +364.76sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/transition_event" +364.77sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/controller_state"[0m +364.77sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_velocity_controller/command"[0m +364.77sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/transition_event"[0m +364.77sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/joint_trajectory" +364.77sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/joint_trajectory"[0m +364.77sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/controller_state" +364.77sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" +364.77sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" +364.77sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_controller/controller_state"[0m +364.77sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m +364.77sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" +364.77sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m +365.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780607336.33812380 seconds. ×2 +365.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780607336.34828639 seconds ×2 +366.37sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" +366.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780607336.89779329 seconds. ×2 +366.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +366.89sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) +367.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 +368.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 +369.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 +369.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 +369.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.37sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 4.37sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.88sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.89sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.89sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 50 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 5.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 5.13sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.14sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 5.14sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 6.66sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 2 warnings · 112 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/2026-06-04-21-08-49-305691-96204a0fa699-11649 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.58sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.66sINFOros2_control_node-1process started with pid [11679] + 1.66sINFOmove_group-9process started with pid [11698] + 1.66sINFOparameter_manager_node-10process started with pid [11701] + 1.66sINFOwaypoint_manager_node-11process started with pid [11740] + 1.66sINFOmove_joint_resampler_node-12process started with pid [11742] + 1.66sINFOmove_end_effector_resampler_node-13process started with pid [11744] + 1.66sINFOobjective_server_node_main-14process started with pid [11746] + 1.66sINFOcomponent_container_mt-15process started with pid [11748] + 1.66sINFOexecute_objective_bridge-16process started with pid [11750] + 1.66sINFOui_teleop_bridge-17process started with pid [11752] + 1.66sINFOfoxglove_bridge-18process started with pid [11754] + 1.66sINFOtf2_web_republisher_node-19process started with pid [11756] + 1.66sINFOweb_video_server-20process started with pid [11773] + 1.66sINFOparameter_manager_nodeStarted parameter manager node. + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [11681] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [11683] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [11685] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [11687] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [11689] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [11692] + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [11695] + 1.69sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m + 1.69sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.71sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.71sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.86sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.86sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.87sINFOfoxglove_bridgeServer listening on port 3201 + 1.87sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.88sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout" + 1.88sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/rosout"[0m + 1.89sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events" + 1.89sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/parameter_events"[0m + 1.89sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.89sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m + 1.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.91sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.91sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.91sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.92sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state" + 1.92sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.93sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.93sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.93sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description" + 1.93sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.94sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/robot_description"[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 1.94sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" + 1.94sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 1.94sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m + 2.54sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static" + 2.54sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic" + 2.55sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/tf_static"[0m + 2.55sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/robot_description_semantic"[0m + 2.56sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.57sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world" + 2.57sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene_world"[0m + 2.59sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene" + 2.59sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf" + 2.59sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene"[0m + 2.59sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/tf"[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.60sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.60sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.60sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.60sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.60sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.60sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.60sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.60sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.60sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.61sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.61sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.61sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.61sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.61sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.61sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.61sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.63sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.75sINFOwaypoint_manager_nodeStarted waypoint manager node. | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 58 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780607336.33812380 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780607336.34828639 seconds ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780607336.89779329 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 5.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 6.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 58 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780607336.33812380 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780607336.34828639 seconds ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780607336.89779329 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 5.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 6.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 58 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780607336.33812380 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780607336.34828639 seconds ×2 + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.05sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780607336.89779329 seconds. ×2 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.57sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 5.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 6.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 48 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 0.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 4.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 5.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 5.13sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.14sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 5.14sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 6.66sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780607338.06798673 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.37sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 4.37sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.1s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780607338.66278625 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780607339.72293878 seconds ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780607340.28042006 seconds. ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780607340.31057024 seconds ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780607340.89459801 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780607341.04509330 seconds ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780607341.68345785 seconds. ×2 + 3.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780607341.72359347 seconds ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780607342.28830504 seconds. ×2 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (1.8271e-05 s). + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.77sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-04 21:09:02.437] [info] Accepted new action goal + 5.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.002 of wall time (13/3099). Below 1% is expected on a non-realtime system.[0m + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Received new action goal + 6.29sINFOros2_control_node[2026-06-04 21:09:04.952] [info] Accepted new action goal | ||||