118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.3s
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 | 42.0s | 129 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.04sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.65sINFOobjective_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 + 3.66sINFOobjective_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 + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal + 6.82sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Accepted new action goal + 10.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.02sINFOros2_control_node[2026-06-06 21:12:01.699] [info] Received new action goal + 10.02sINFOros2_control_node[2026-06-06 21:12:01.699] [info] Accepted new action goal + 12.98sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 12.98sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.01sINFOros2_control_node[2026-06-06 21:12:04.691] [info] Received new action goal + 13.01sINFOros2_control_node[2026-06-06 21:12:04.691] [info] Accepted new action goal + 16.09sINFOobjective_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 + 22.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 23.69sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.13% of iterations over budget over 2:10.002 of wall time (51/40249). Below 1% is expected on a non-realtime system.[0m + 23.86sINFOros2_control_node[2026-06-06 21:12:15.539] [info] Received new action goal + 23.86sINFOros2_control_node[2026-06-06 21:12:15.539] [info] Accepted new action goal + 25.03sINFOobjective_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 + 25.04sINFOobjective_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 + 25.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 25.30sINFOobjective_server_nodePath shortcutter: [X___________X] + 25.32sINFOros2_control_node[2026-06-06 21:12:17.001] [info] Received new action goal + 25.32sINFOros2_control_node[2026-06-06 21:12:17.001] [info] Accepted new action goal + 27.43sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 27.44sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.44sINFOros2_control_node[2026-06-06 21:12:19.119] [info] Received new action goal + 27.44sINFOros2_control_node[2026-06-06 21:12:19.119] [info] Accepted new action goal + 30.47sINFOros2_control_node[2026-06-06 21:12:22.152] [info] Received new action goal + 30.47sINFOros2_control_node[2026-06-06 21:12:22.152] [info] Accepted new action goal + 33.06sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 33.06sINFOobjective_server_nodePath shortcutter: [X________________X] + 33.10sINFOros2_control_node[2026-06-06 21:12:24.781] [info] Received new action goal + 33.10sINFOros2_control_node[2026-06-06 21:12:24.781] [info] Accepted new action goal + 43.79sINFOros2_control_node[2026-06-06 21:12:35.469] [info] Received new action goal + 43.79sINFOros2_control_node[2026-06-06 21:12:35.469] [info] Accepted new action goal + 44.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780780356.62609982 seconds ×2 + 45.64sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780780357.32221389 seconds. ×2 + 45.69sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.70sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 46.91sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.92sINFOros2_control_node[2026-06-06 21:12:38.596] [info] Received new action goal + 46.92sINFOros2_control_node[2026-06-06 21:12:38.596] [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 | 37.9s | 4 errors · 13607 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780780368.27236724 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780368.87897062 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.68sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.68sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.76sINFOros2_control_node[2026-06-06 21:12:49.033] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-06 21:12:49.033] [info] Accepted new action goal + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.05sINFOobjective_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 + 4.28sINFOjoint_trajectory_controllerReceived new action goal ×3353 + 4.28sINFOjoint_trajectory_controllerAccepted new action goal ×3352 + 4.28sINFOros2_control_nodeReceived new action goal[0m ×3353 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×3352 + 9.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.19sINFOjoint_trajectory_controllerGoal reached, success! ×75 + 9.20sINFOros2_control_nodeGoal reached, success![0m ×75 + 9.67sERRORobjective_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 + 27.09sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 3:10.003 of wall time (107/58769). Below 1% is expected on a non-realtime system.[0m + 34.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780400.793118) that ends in the past (1780780403.113118) + 34.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780400.793118) that ends in the past (1780780403.113118)[0m + 37.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780406.18841434 seconds ×2 + 38.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780406.77411509 seconds. ×2 + 38.55sINFOobjective_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 + 38.63sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 38.64sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 38.65sINFOros2_control_node[2026-06-06 21:13:26.918] [info] Received new action goal + 38.65sINFOros2_control_node[2026-06-06 21:13:26.918] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 33.6s | 24 errors · 6055 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1325 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1337 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1325 + 0.30sINFOjoint_trajectory_controllerGoal reached, success! ×344 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×344 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780430.90356278 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780780431.47810197 seconds. ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.64sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.68sINFOobjective_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 (3.4e-07 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.78sINFOros2_control_node[2026-06-06 21:13:51.641] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-06 21:13:51.641] [info] Accepted new action goal + 8.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 8.80sINFOros2_control_node[2026-06-06 21:13:56.658] [info] Received new action goal + 8.80sINFOros2_control_node[2026-06-06 21:13:56.658] [info] Accepted new action goal + 10.72sINFOros2_control_node[2026-06-06 21:13:58.583] [info] Received new action goal + 10.72sINFOros2_control_node[2026-06-06 21:13:58.583] [info] Accepted new action goal + 16.62sINFOobjective_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 + 16.66sINFOobjective_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 + 18.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780446.750823) + 18.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780446.750823)[0m + 22.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780450.300823) ×2 + 22.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780450.300823)[0m ×2 + 23.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780451.490823) + 23.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780451.490823)[0m + 23.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780451.500823) + 23.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780451.500823)[0m + 24.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780452.690823) + 24.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780452.690823)[0m + 25.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780453.210823) + 25.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780453.210823)[0m + 25.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780453.230823) + 25.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780453.230823)[0m + 26.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780453.880823) + 26.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780453.880823)[0m + 26.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780454.430823) + 26.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780454.430823)[0m + 27.51sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 4:10.005 of wall time (167/77205). Below 1% is expected on a non-realtime system.[0m + 36.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780780464.52055049 seconds ×2 + 36.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780464.610823) ×2 + 36.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780464.610823)[0m ×2 + 37.28sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780780465.13500762 seconds. ×2 + 37.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 37.28sINFOros2_control_nodeReceived & accepted new action goal[0m + 37.44sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 37.44sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 38.40sINFOobjective_server_nodeFound path in 6 iterations (0.00421839 s). + 38.44sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 38.45sINFOros2_control_node[2026-06-06 21:14:26.309] [info] Received new action goal + 38.45sINFOros2_control_node[2026-06-06 21:14:26.309] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 31.9s | 2 errors · 76 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Accepted new action goal + 27.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 27.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 27.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 27.51sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution" + 27.51sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/solution"[0m + 27.65sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 27.65sINFOobjective_server_nodePath shortcutter: [X___________X] + 27.66sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 27.67sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). + 27.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 27.72sINFOobjective_server_nodeFound path in 1 iterations (0.00240041 s). + 27.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 27.82sINFOros2_control_node[2026-06-06 21:10:50.379] [info] Received new action goal + 27.82sINFOros2_control_node[2026-06-06 21:10:50.379] [info] Accepted new action goal + 30.35sINFOros2_control_node[2026-06-06 21:10:52.901] [info] Received new action goal + 30.35sINFOros2_control_node[2026-06-06 21:10:52.901] [info] Accepted new action goal + 32.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 32.11sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Received new action goal + 32.11sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Accepted new action goal + 33.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780256.05188155 seconds ×2 + 34.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780256.62183619 seconds. ×2 + 34.07sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.07sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 34.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780256.70195675 seconds ×2 + 34.81sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780257.36982298 seconds. ×2 + 34.90sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 34.91sINFOobjective_server_nodePath shortcutter: [X_____________X] + 34.92sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Received new action goal + 34.92sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Accepted new action goal + 35.08sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 35.08sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.5s | 4 errors · 906 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×180 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×178 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×180 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×178 + 0.07sINFOjoint_trajectory_controllerGoal reached, success! ×43 + 0.07sINFOros2_control_nodeGoal reached, success![0m ×43 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780780464.52055049 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780464.610823) ×2 + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780464.610823)[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780780465.13500762 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.82sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.67sINFOobjective_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 + 4.77sINFOobjective_server_nodeFound path in 6 iterations (0.00421839 s). + 4.81sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.83sINFOros2_control_node[2026-06-06 21:14:26.309] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-06 21:14:26.309] [info] Accepted new action goal + 14.30sINFOobjective_server_node[0;m[0;93m2026-06-06 21:14:35.778670890 [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 + 14.30sINFOobjective_server_node[0;93m2026-06-06 21:14:35.778701961 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.80sINFOobjective_server_node[0;93m2026-06-06 21:14:36.280447567 [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 + 14.80sINFOobjective_server_node[0;93m2026-06-06 21:14:36.280480797 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.92sINFOobjective_server_node[0;93m2026-06-06 21:14:36.400633155 [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 + 14.92sINFOobjective_server_node[0;93m2026-06-06 21:14:36.403426273 [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 + 14.92sINFOobjective_server_node[0;93m2026-06-06 21:14:36.403446664 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.21sINFOobjective_server_node[0;93m2026-06-06 21:14:36.695635951 [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 + 15.24sINFOobjective_server_node[0;93m2026-06-06 21:14:36.718057033 [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 + 15.24sINFOobjective_server_node[0;93m2026-06-06 21:14:36.718107883 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.40sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization" + 16.40sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization"[0m + 16.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 16.90sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 16.90sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 17.40sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.40sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 19.22sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.41sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 19.41sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 19.56sINFOobjective_server_nodeFound path in 4 iterations (0.00220323 s). + 19.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 19.65sINFOobjective_server_nodeFound path in 12 iterations (0.00479631 s). + 19.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 19.72sINFOobjective_server_nodeFound path in 1 iterations (0.00243594 s). + 19.75sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 19.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 19.79sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 19.81sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 19.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 19.85sINFOobjective_server_nodeFound path in 12 iterations (0.00393977 s). + 19.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 19.91sINFOobjective_server_nodeFound path in 1 iterations (0.00315909 s). + 19.95sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] + 19.96sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 19.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.01sINFOobjective_server_nodeFound path in 4 iterations (0.00411487 s). + 20.08sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 20.10sINFOobjective_server_nodeFound path in 4 iterations (0.00280742 s). + 20.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] + 20.19sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 20.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] + 20.26sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 20.30sINFOobjective_server_nodePath shortcutter: [X________________________________X_____________________________X] + 20.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 20.38sINFOobjective_server_nodeFound path in 1 iterations (0.00230523 s). + 20.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 20.45sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 20.49sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.52sINFOros2_control_node[2026-06-06 21:14:42.002] [info] Received new action goal + 20.52sINFOros2_control_node[2026-06-06 21:14:42.002] [info] Accepted new action goal + 25.52sINFOros2_control_node[2026-06-06 21:14:47.004] [info] Received new action goal + 25.52sINFOros2_control_node[2026-06-06 21:14:47.004] [info] Accepted new action goal + 27.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.11sINFOros2_control_node[2026-06-06 21:14:48.592] [info] Received new action goal + 27.11sINFOros2_control_node[2026-06-06 21:14:48.592] [info] Accepted new action goal + 28.30sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.34sINFOros2_control_node[2026-06-06 21:14:49.825] [info] Received new action goal + 28.34sINFOros2_control_node[2026-06-06 21:14:49.825] [info] Accepted new action goal + 33.58sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780495.06517959 seconds ×2 + 34.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780495.80521441 seconds. ×2 + 34.53sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 34.53sINFOobjective_server_nodePath shortcutter: [X______X] + 34.54sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Received new action goal + 34.54sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Accepted new action goal + 34.54sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.54sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 34.54sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 34.54sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 34.55sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 34.55sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.7s | 22 errors · 7430 info |
+ 0.00sINFOros2_control_nodeGoal reached, success![0m ×201 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1755 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1744 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1755 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1744 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×200 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780406.18841434 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780406.77411509 seconds. ×2 + 3.68sINFOobjective_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 (2.71e-07 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 3.77sINFOros2_control_node[2026-06-06 21:13:26.918] [info] Received new action goal + 3.77sINFOros2_control_node[2026-06-06 21:13:26.918] [info] Accepted new action goal + 7.67sINFOobjective_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 + 7.75sINFOobjective_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 + 10.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780413.590523) + 10.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780413.590523)[0m + 10.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780413.600523) + 10.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780413.600523)[0m + 11.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.140523) + 11.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.140523)[0m + 11.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.150523) + 11.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.150523)[0m + 11.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.810523) + 11.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.810523)[0m + 11.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.830523) + 11.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780414.830523)[0m + 12.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780416.020523) + 12.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780416.020523)[0m + 14.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780417.200523) + 14.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780417.200523)[0m + 15.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780418.370523) + 15.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780418.370523)[0m + 15.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780418.900523) + 15.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780418.900523)[0m + 15.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780418.910523) + 15.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780413.050523) that ends in the past (1780780418.910523)[0m + 27.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780430.90356278 seconds ×2 + 28.33sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780780431.47810197 seconds. ×2 + 28.36sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 28.36sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 28.48sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 28.48sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 28.50sINFOros2_control_node[2026-06-06 21:13:51.641] [info] Received new action goal + 28.50sINFOros2_control_node[2026-06-06 21:13:51.641] [info] Accepted new action goal | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 67 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00244865 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.17sINFOros2_control_node[2026-06-06 21:11:27.738] [info] Received new action goal + 0.17sINFOros2_control_node[2026-06-06 21:11:27.738] [info] Accepted new action goal + 0.61sINFOros2_control_node[2026-06-06 21:11:28.175] [info] Received new action goal + 0.61sINFOros2_control_node[2026-06-06 21:11:28.175] [info] Accepted new action goal + 1.82sINFOros2_control_node[2026-06-06 21:11:29.384] [info] Got request to cancel active goal. + 1.82sINFOros2_control_node[2026-06-06 21:11:29.384] [info] Canceling active goal... + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780780289.39659524 seconds ×2 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780780290.00612664 seconds. ×2 + 2.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.61sINFOros2_control_node[2026-06-06 21:11:30.169] [info] Received new action goal + 2.61sINFOros2_control_node[2026-06-06 21:11:30.169] [info] Accepted new action goal + 2.82sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.82sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.82sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.82sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.97sINFOros2_control_node[2026-06-06 21:11:32.531] [info] Received new action goal + 4.97sINFOros2_control_node[2026-06-06 21:11:32.531] [info] Accepted new action goal + 13.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780301.09276199 seconds ×2 + 14.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780301.65357065 seconds. ×2 + 14.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780301.72369218 seconds ×2 + 14.70sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780302.26515794 seconds. ×2 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 14.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.81sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Received new action goal + 14.81sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Accepted new action goal + 16.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780304.38528776 seconds ×2 + 17.38sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780304.94199204 seconds. ×2 + 17.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 17.42sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 17.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 17.48sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Received new action goal + 17.48sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Accepted new action goal | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 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 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.93sINFOros2_control_node[2026-06-06 21:12:35.469] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-06 21:12:35.469] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780780356.62609982 seconds ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780780357.32221389 seconds. ×2 + 2.84sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.84sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.05sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.06sINFOros2_control_node[2026-06-06 21:12:38.596] [info] Received new action goal + 4.06sINFOros2_control_node[2026-06-06 21:12:38.596] [info] Accepted new action goal + 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 ×4 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). + 10.11sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.12sINFOros2_control_node[2026-06-06 21:12:44.656] [info] Received new action goal + 10.12sINFOros2_control_node[2026-06-06 21:12:44.656] [info] Accepted new action goal + 13.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780780368.27236724 seconds ×2 + 14.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780368.87897062 seconds. ×2 + 14.41sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 14.41sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 14.49sINFOobjective_server_nodePath shortcutter: [X___X] + 14.50sINFOros2_control_node[2026-06-06 21:12:49.033] [info] Received new action goal + 14.50sINFOros2_control_node[2026-06-06 21:12:49.033] [info] Accepted new action goal + 15.78sINFOobjective_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 + 15.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ 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: 1780780210.35710979 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 1.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 1.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 1.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 1.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 2.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 2.57sINFOobjective_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 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 2.66sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.67sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 2.67sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 4.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.01sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 5.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 5.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.21sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 5.21sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal + 8.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 8.97sINFOros2_control_node[2026-06-06 21:10:19.325] [info] Received new action goal + 8.97sINFOros2_control_node[2026-06-06 21:10:19.325] [info] Accepted new action goal + 12.28sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 12.28sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.29sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 12.29sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 13.03sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 13.03sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 13.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 13.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 13.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 14.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 14.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.56sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.48sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 15.48sINFOobjective_server_nodePath shortcutter: [X______X] + 15.49sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 15.49sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 4 errors · 47 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal + 9.98sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 1:10.001 of wall time (22/21686). Below 1% is expected on a non-realtime system.[0m + 11.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures" + 11.39sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures"[0m + 11.89sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 11.90sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 13.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780780278.41021967 seconds ×2 + 13.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.58sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780780278.96379733 seconds. ×2 + 13.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 13.78sINFOros2_control_node[2026-06-06 21:11:19.157] [info] Received new action goal + 13.78sINFOros2_control_node[2026-06-06 21:11:19.157] [info] Accepted new action goal + 13.91sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.91sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 16.93sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 16.93sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 82 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures" + 0.00sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/pcd_pointcloud_captures"[0m + 0.50sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 0.51sINFOfoxglove_bridgeRemoving channel 61 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 1.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780780278.41021967 seconds ×2 + 1.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780780278.96379733 seconds. ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 2.37sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.37sINFOobjective_server_nodePath shortcutter: [X______X] + 2.39sINFOros2_control_node[2026-06-06 21:11:19.157] [info] Received new action goal + 2.39sINFOros2_control_node[2026-06-06 21:11:19.157] [info] Accepted new action goal + 2.51sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.52sINFOfoxglove_bridgeRemoving channel 59 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 5.53sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 5.53sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 6.04sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.04sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.54sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 7.55sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 7.69sINFOobjective_server_nodePath shortcutter: [X__________X] + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 7.70sINFOobjective_server_nodePath shortcutter: [X________________X] + 7.70sINFOobjective_server_nodeFound path in 0 iterations (1.3e-07 s). + 7.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×3 + 7.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 7.77sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). + 7.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 7.81sINFOobjective_server_nodeFound path in 1 iterations (0.00183519 s). + 7.88sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00279891 s). + 7.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 8.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 8.16sINFOros2_control_node[2026-06-06 21:11:24.935] [info] Received new action goal + 8.16sINFOros2_control_node[2026-06-06 21:11:24.935] [info] Accepted new action goal + 10.79sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). + 10.79sINFOobjective_server_nodePath shortcutter: [X_X] + 10.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 10.86sINFOobjective_server_nodeFound path in 1 iterations (0.00244865 s). + 10.93sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 10.97sINFOros2_control_node[2026-06-06 21:11:27.738] [info] Received new action goal + 10.97sINFOros2_control_node[2026-06-06 21:11:27.738] [info] Accepted new action goal + 11.40sINFOros2_control_node[2026-06-06 21:11:28.175] [info] Received new action goal + 11.40sINFOros2_control_node[2026-06-06 21:11:28.175] [info] Accepted new action goal + 12.61sINFOros2_control_node[2026-06-06 21:11:29.384] [info] Got request to cancel active goal. + 12.61sINFOros2_control_node[2026-06-06 21:11:29.384] [info] Canceling active goal... + 12.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780780289.39659524 seconds ×2 + 13.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780780290.00612664 seconds. ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 13.40sINFOros2_control_node[2026-06-06 21:11:30.169] [info] Received new action goal + 13.40sINFOros2_control_node[2026-06-06 21:11:30.169] [info] Accepted new action goal + 13.61sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 13.61sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.61sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.61sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 15.76sINFOros2_control_node[2026-06-06 21:11:32.531] [info] Received new action goal + 15.76sINFOros2_control_node[2026-06-06 21:11:32.531] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 4 errors · 2 warnings · 76 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Accepted new action goal + 5.24sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.25sINFOros2_control_node[2026-06-06 21:15:43.141] [info] Received new action goal + 5.25sINFOros2_control_node[2026-06-06 21:15:43.141] [info] Accepted new action goal + 5.25sINFOros2_control_node[2026-06-06 21:15:43.142] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.10sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Got request to cancel active goal. + 12.10sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Canceling active goal... + 12.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780550.00292826 seconds ×2 + 12.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780550.55311251 seconds. ×2 + 13.05sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 13.05sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 13.55sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 13.55sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 13.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780551.55341363 seconds ×2 + 14.06sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.06sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780552.11638546 seconds. ×2 + 14.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.22sINFOobjective_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 + 14.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780552.11797404 seconds ×2 + 14.56sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.56sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 14.56sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.56sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 14.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780552.67034221 seconds. ×2 + 14.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780552.67073584 seconds ×2 + 15.06sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 15.06sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780553.32484889 seconds. ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 4 errors · 39 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 11.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.008 of wall time (194/95691). Below 1% is expected on a non-realtime system.[0m + 12.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780780516.89279032 seconds ×2 + 13.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780780517.44240713 seconds. ×2 + 13.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 13.62sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.63sINFOros2_control_node[2026-06-06 21:15:17.659] [info] Received new action goal + 13.63sINFOros2_control_node[2026-06-06 21:15:17.659] [info] Accepted new action goal + 13.65sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.65sINFOfoxglove_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 | 10.8s | 2 errors · 68 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780495.06517959 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780495.80521441 seconds. ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.80sINFOobjective_server_nodePath shortcutter: [X______X] + 1.81sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Received new action goal + 1.81sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Accepted new action goal + 1.82sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.82sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.82sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.82sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 6.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.87sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). + 7.13sINFOobjective_server_nodePath shortcutter: [X___________X] + 7.14sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 7.14sINFOobjective_server_nodePath shortcutter: [X_________________X] + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 7.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.20sINFOobjective_server_nodeFound path in 1 iterations (0.00286121 s). + 7.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 7.28sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 7.30sINFOros2_control_node[2026-06-06 21:15:01.510] [info] Received new action goal + 7.30sINFOros2_control_node[2026-06-06 21:15:01.510] [info] Accepted new action goal + 7.36sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution" + 7.36sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/solution"[0m + 9.82sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 9.82sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 11.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.65sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 11.65sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 11.77sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 11.78sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 11.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 12.41sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 12.57sINFOobjective_server_nodePath shortcutter: [X________X] + 12.58sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 12.59sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 12.90sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.90sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.90sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.90sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.50sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 23 errors · 2 warnings · 144 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780550.00292826 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780550.55311251 seconds. ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780551.55341363 seconds ×2 + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780552.11638546 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.12sINFOobjective_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 + 2.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780552.11797404 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.46sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.47sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780552.67034221 seconds. ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780552.67073584 seconds ×2 + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780553.32484889 seconds. ×2 + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780554.56497669 seconds ×2 + 4.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.98sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.09sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 10.10sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.10sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.10sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.10sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.10sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.10sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.10sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.11sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.11sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.11sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.11sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.11sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.11sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 10.11sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 10.12sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 10.13sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 10.14sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 10.14sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 10.15sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 10.16sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 10.16sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 10.17sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 10.18sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 10.19sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 10.19sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 10.20sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 10.20sINFOcontroller_managerShutdown request received.... + 10.20sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.20sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.20sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.20sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.20sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.20sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.20sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.20sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 10.20sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.20sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.20sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.20sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.20sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.20sINFOcontroller_managerShutting down the controller manager. + 10.21sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.21sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 10.21sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 10.21sERRORui_teleop_bridgeTraceback (most recent call last): + 10.21sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 10.21sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 10.21sINFOui_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 + 10.21sINFOui_teleop_bridgerclpy.shutdown() + 10.21sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 10.21sINFOui_teleop_bridge_shutdown(context=context) + 10.21sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 10.21sINFOui_teleop_bridgereturn context.shutdown() + 10.21sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 10.21sINFOui_teleop_bridgeself.__context.shutdown() + 10.21sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 10.21sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 10.21sINFOros2_control_nodeShutdown request received....[0m + 10.21sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 10.21sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 10.21sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 10.21sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 10.21sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 10.21sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 10.21sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 10.21sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 10.21sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 10.21sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 10.21sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 10.21sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 10.21sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 10.21sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 10.21sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 10.21sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 10.21sINFOros2_control_nodeShutting down the controller manager.[0m + 10.27sINFOobjective_server_node[0;m[2026-06-06 21:16:00.261] [moveit_pro_license] [info] + 10.27sINFOobjective_server_node************************************************* ×2 + 10.27sINFOobjective_server_node* MoveIt Pro License + 10.27sINFOobjective_server_node* Application has successfully terminated + 10.33sINFOobjective_server_nodecorrupted double-linked list + 10.33sERRORobjective_server_nodeStack trace (most recent call last) in thread 10730: + 10.34sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10342] + 10.34sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 10.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.34sINFOweb_video_server-20process has finished cleanly [pid 10348] + 10.35sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.35sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4ac3a83, in __clone + 10.35sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a32ac2, in + 10.35sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f9aaf1c621b, in + 10.35sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f9aaf17a674, in + 10.35sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f9aaf169339, in + 10.35sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f9aaf159ede, in + 10.35sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a43452, in free + 10.35sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a40e9f, in + 10.35sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a3f91a, in + 10.35sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a3f7cb, in + 10.35sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a3ecfb, in + 10.35sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a27676, in + 10.35sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad49c67f2, in abort + 10.35sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad49e0475, in raise + 10.35sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9ad4a349fc, in pthread_kill + 10.35sERRORobjective_server_nodeAborted (Signal sent by tkill() 10332 0) + 10.52sINFOfoxglove_bridgeShutdown complete[0m + 11.05sERRORobjective_server_node_main-14process has died [pid 10332, 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_1y8828rj --params-file /tmp/launch_params_cg1c_zk5 --params-file /tmp/launch_params_c3ckux4w --params-file /tmp/launch_params_sr2402lt --params-file /tmp/launch_params_dvmiw4zx --params-file /tmp/launch_params_63inuz5h']. + 11.05sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 11.19sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10330] + 11.21sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10328] + 11.21sINFOexecute_objective_bridge-16process has finished cleanly [pid 10336] + 11.22sERRORui_teleop_bridge-17process has died [pid 10338, 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_b_5fm05x']. + 11.23sINFOparameter_manager_node-10process has finished cleanly [pid 10288] + 11.25sINFOwaypoint_manager_node-11process has finished cleanly [pid 10326] + 11.34sINFOcomponent_container_mt-15process has finished cleanly [pid 10334] + 11.51sINFOmove_group-9process has finished cleanly [pid 10285] + 12.26sINFOros2_control_node-1process has finished cleanly [pid 10265] + 12.32sINFOfoxglove_bridge-18process has finished cleanly [pid 10340] + 12.32sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.6s | 2 errors · 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780780527.27717352 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780780527.83643341 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-06 21:15:27.949] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-06 21:15:27.949] [info] Accepted new action goal + 0.99sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 0.99sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780537.89661765 seconds ×2 + 11.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 11.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 11.57sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.57sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 11.84sINFOobjective_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 + 11.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 12.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 12.53sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 12.53sINFOobjective_server_nodePath shortcutter: [X___X] + 12.55sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 12.55sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.6s | 2 errors · 64 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[2026-06-06 21:10:54.665] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780256.05188155 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780256.62183619 seconds. ×2 + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780256.70195675 seconds ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780257.36982298 seconds. ×2 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Accepted new action goal + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Accepted new action goal + 8.83sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 8.84sINFOros2_control_node[2026-06-06 21:11:03.132] [info] Received new action goal + 8.84sINFOros2_control_node[2026-06-06 21:11:03.132] [info] Accepted new action goal + 11.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 11.18sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 11.18sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 13.09sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 13.09sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 13.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 13.68sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 13.91sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 13.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 13.91sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 13.91sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 14.82sINFOobjective_server_nodePath shortcutter: [X______X] + 14.83sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 14.83sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 31 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.008 of wall time (194/95691). Below 1% is expected on a non-realtime system.[0m + 1.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780780516.89279032 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780780517.44240713 seconds. ×2 + 2.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.28sINFOobjective_server_nodePath shortcutter: [X________________X] + 2.29sINFOros2_control_node[2026-06-06 21:15:17.659] [info] Received new action goal + 2.29sINFOros2_control_node[2026-06-06 21:15:17.659] [info] Accepted new action goal + 2.31sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.31sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 6.32sINFOros2_control_node[2026-06-06 21:15:21.690] [info] Received new action goal + 6.32sINFOros2_control_node[2026-06-06 21:15:21.690] [info] Accepted new action goal + 11.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780780527.27717352 seconds ×2 + 12.47sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780780527.83643341 seconds. ×2 + 12.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 12.57sINFOobjective_server_nodePath shortcutter: [X________X] + 12.58sINFOros2_control_node[2026-06-06 21:15:27.949] [info] Received new action goal + 12.58sINFOros2_control_node[2026-06-06 21:15:27.949] [info] Accepted new action goal + 12.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 12.90sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 14.49sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.3s | 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780301.65357065 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780301.72369218 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780302.26515794 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780304.38528776 seconds ×2 + 3.29sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780304.94199204 seconds. ×2 + 3.33sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.33sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.39sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Accepted new action goal + 7.76sINFOobjective_server_node[0;93m2026-06-06 21:11:49.417249312 [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 + 7.76sINFOobjective_server_node[0;93m2026-06-06 21:11:49.417278162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.29sINFOobjective_server_node[0;93m2026-06-06 21:11:49.939973264 [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 + 8.29sINFOobjective_server_node[0;93m2026-06-06 21:11:49.940038985 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.40sINFOobjective_server_node[0;93m2026-06-06 21:11:50.054744184 [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 + 8.40sINFOobjective_server_node[0;93m2026-06-06 21:11:50.056544882 [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 + 8.40sINFOobjective_server_node[0;93m2026-06-06 21:11:50.056564053 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.69sINFOobjective_server_node[0;93m2026-06-06 21:11:50.338171190 [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 + 8.70sINFOobjective_server_node[0;93m2026-06-06 21:11:50.355313241 [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 + 8.70sINFOobjective_server_node[0;93m2026-06-06 21:11:50.355347212 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 10.36sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 10.36sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 10.70sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 10.87sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.87sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.87sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 10.87sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.18sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 11.18sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.67sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 11.67sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.77sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 11.77sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 11.77sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.06sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 12.08sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 12.08sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.97sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 13.38sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 13.38sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 13.59sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 13.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.67sINFOobjective_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 + 13.68sINFOobjective_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 + 13.88sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.88sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 13.88sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 13.89sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 13.94sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 13.94sINFOobjective_server_nodePath shortcutter: [X____________X] + 13.99sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 13.99sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.0s | 62 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-06 21:11:49.417249312 [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;93m2026-06-06 21:11:49.417278162 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.52sINFOobjective_server_node[0;93m2026-06-06 21:11:49.939973264 [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 + 0.52sINFOobjective_server_node[0;93m2026-06-06 21:11:49.940038985 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.64sINFOobjective_server_node[0;93m2026-06-06 21:11:50.054744184 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-06 21:11:50.056544882 [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 + 0.64sINFOobjective_server_node[0;93m2026-06-06 21:11:50.056564053 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.92sINFOobjective_server_node[0;93m2026-06-06 21:11:50.338171190 [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 + 0.94sINFOobjective_server_node[0;93m2026-06-06 21:11:50.355313241 [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 + 0.94sINFOobjective_server_node[0;93m2026-06-06 21:11:50.355347212 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.26sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.60sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.60sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 3.10sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.10sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.10sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.10sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.42sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 3.42sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.90sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 3.90sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.01sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 4.01sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 4.01sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.30sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 4.31sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 4.31sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.21sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 5.62sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 5.62sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 5.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 5.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.83sINFOros2_control_nodeReceived & accepted new action goal[0m + 5.91sINFOobjective_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 + 5.92sINFOobjective_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 + 6.12sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.12sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 6.12sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.12sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.22sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal + 9.08sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 9.09sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Received new action goal + 9.09sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Accepted new action goal | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780301.09276199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780301.65357065 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780301.72369218 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780302.26515794 seconds. ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780304.38528776 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780304.94199204 seconds. ×2 + 3.89sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.95sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Accepted new action goal | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 12 warnings · 251 info |
+ 0.00sINFOobjective_server_node[2026-06-06 21:10:05.041] [moveit_pro_license] [info] + 0.00sINFOobjective_server_node************************************************* ×2 + 0.00sINFOobjective_server_node* MoveIt Pro License + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.30sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.30sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.30sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.30sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.30sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.30sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.31sINFOcontroller_managerupdate rate is 600 Hz + 0.31sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.31sWARNcontroller_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. + 0.31sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.31sWARNros2_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 + 0.32sINFOobjective_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. + 0.32sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.33sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.33sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.35sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 0.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 0.36sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 0.36sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 0.36sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 0.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 0.37sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 0.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 0.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 0.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 0.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 0.37sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 0.37sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 0.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 0.37sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 0.37sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 0.37sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 0.38sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 0.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.38sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.40sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.40sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.43sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.43sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.57sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.57sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.57sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.57sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.57sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.57sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.58sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.58sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.58sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.58sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.58sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.58sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.64sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.64sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.64sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10267] + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.73sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.73sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.73sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.73sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.73sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.79sINFOros2_control_node[2026-06-06 21:10:05.831] [info] Controller state will be published at 20 Hz. + 0.79sINFOros2_control_node[2026-06-06 21:10:05.832] [info] JointVelocityController 'on_configure' succeeded. + 0.79sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.79sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.79sINFOros2_control_node[2026-06-06 21:10:05.833] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.79sINFOros2_control_node[2026-06-06 21:10:05.833] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.82sINFOros2_control_node[2026-06-06 21:10:05.860] [info] First order lag filter time constant set to: 0.2 seconds + 0.82sINFOros2_control_node[2026-06-06 21:10:05.860] [info] Controller state will be published at 50 Hz. + 0.82sINFOros2_control_node[2026-06-06 21:10:05.864] [info] Registered `FollowJointTrajectory` action server. + 0.82sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.83sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.84sINFOobjective_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. + 0.84sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.86sINFOros2_control_node[2026-06-06 21:10:05.901] [info] Controller state will be published at 10 Hz. + 0.86sINFOros2_control_node[2026-06-06 21:10:05.902] [info] VelocityForceController 'on_configure' succeeded. + 0.86sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.86sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.86sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.86sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event" + 1.02sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event"[0m + 1.02sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command" + 1.02sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 1.03sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state" + 1.03sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command" + 1.03sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event" + 1.03sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" + 1.03sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.03sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.03sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" + 1.03sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" + 1.03sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 1.03sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 1.03sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.03sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 1.04sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 1.04sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 1.04sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.04sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 1.04sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10282] + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10275] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10279] + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10273] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10271] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10269] + 1.23sWARNobjective_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/. + 1.28sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.30sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.30sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.34sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.42sINFOmove_group ×2 + 1.42sINFOmove_group[92mYou can start planning now![0m + 1.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.68sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.68sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780207.16608238 seconds. ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780207.17625737 seconds ×2 + 2.23sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.23sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 4.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 5.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 5.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 6.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 6.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 7.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 7.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 7.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 7.88sINFOobjective_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 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 7.97sINFOobjective_server_nodePath shortcutter: [X_______X] + 7.98sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 7.98sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 1 warning · 84 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10282] + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10275] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10279] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10273] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10271] + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10269] + 0.17sWARNobjective_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/. + 0.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.36sINFOmove_group ×2 + 0.36sINFOmove_group[92mYou can start planning now![0m + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780207.16608238 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780207.17625737 seconds ×2 + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780550.00292826 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780550.55311251 seconds. ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780551.55341363 seconds ×2 + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780552.11638546 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.12sINFOobjective_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 + 2.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780552.11797404 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.46sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.47sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780552.67034221 seconds. ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780552.67073584 seconds ×2 + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780553.32484889 seconds. ×2 + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780554.56497669 seconds ×2 + 4.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.98sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.09sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.6s | 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[2026-06-06 21:10:54.665] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780256.05188155 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780256.62183619 seconds. ×2 + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780256.70195675 seconds ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780257.36982298 seconds. ×2 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Accepted new action goal + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Accepted new action goal | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780301.09276199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780301.65357065 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780301.72369218 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780302.26515794 seconds. ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780304.38528776 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780304.94199204 seconds. ×2 + 3.89sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.95sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-06 21:11:45.045] [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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Accepted new action goal | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780550.00292826 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780550.55311251 seconds. ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780551.55341363 seconds ×2 + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780552.11638546 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.12sINFOobjective_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 + 2.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780552.11797404 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.46sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.47sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780552.67034221 seconds. ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780552.67073584 seconds ×2 + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780553.32484889 seconds. ×2 + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780554.56497669 seconds ×2 + 4.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.98sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.09sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 errors · 2 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780550.00292826 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780550.55311251 seconds. ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780551.55341363 seconds ×2 + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780552.11638546 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.12sINFOobjective_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 + 2.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780552.11797404 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.46sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.47sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780552.67034221 seconds. ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780552.67073584 seconds ×2 + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780553.32484889 seconds. ×2 + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 4.48sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780554.56497669 seconds ×2 + 4.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 4.98sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.09sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.1s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780495.06517959 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780495.80521441 seconds. ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.80sINFOobjective_server_nodePath shortcutter: [X______X] + 1.81sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Received new action goal + 1.81sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Accepted new action goal + 1.82sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.82sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.82sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.82sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.1s | 19 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780780368.27236724 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780368.87897062 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.68sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.68sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.76sINFOros2_control_node[2026-06-06 21:12:49.033] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-06 21:12:49.033] [info] Accepted new action goal + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.05sINFOobjective_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 | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 35 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780301.09276199 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780301.65357065 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780301.72369218 seconds ×2 + 1.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780302.26515794 seconds. ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.28sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.29sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Received new action goal + 1.29sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780304.38528776 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780304.94199204 seconds. ×2 + 3.89sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.89sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.95sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Received new action goal + 3.95sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Accepted new action goal | ||||
| − 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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [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 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:10:22.645] [info] Accepted new action goal + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Got request to cancel active goal. + 0.83sINFOros2_control_node[2026-06-06 21:10:23.382] [info] Canceling active goal... + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780223.40593553 seconds ×2 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780224.01339626 seconds. ×2 + 1.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780224.14351225 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780224.69173265 seconds. ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.28sINFOobjective_server_nodePath shortcutter: [X______X] + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [info] Received new action goal + 3.30sINFOros2_control_node[2026-06-06 21:10:25.849] [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[2026-06-06 21:10:54.665] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780256.05188155 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780256.62183619 seconds. ×2 + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780256.70195675 seconds ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780257.36982298 seconds. ×2 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Accepted new action goal + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [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[2026-06-06 21:10:54.665] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780256.05188155 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780256.62183619 seconds. ×2 + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780256.70195675 seconds ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780257.36982298 seconds. ×2 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Accepted new action goal + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [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[2026-06-06 21:10:54.665] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780256.05188155 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780256.62183619 seconds. ×2 + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780256.70195675 seconds ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780257.36982298 seconds. ×2 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Accepted new action goal + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [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[2026-06-06 21:10:54.665] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-06 21:10:54.665] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780256.05188155 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780256.62183619 seconds. ×2 + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.33sINFOfoxglove_bridgeRemoving channel 58 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780256.70195675 seconds ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780257.36982298 seconds. ×2 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.17sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Received new action goal + 3.18sINFOros2_control_node[2026-06-06 21:10:57.473] [info] Accepted new action goal + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.34sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Received new action goal + 6.52sINFOros2_control_node[2026-06-06 21:11:00.814] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 24 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-06 21:11:05.468] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-06 21:11:05.469] [info] Accepted new action goal + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Got request to cancel active goal. + 2.00sINFOros2_control_node[2026-06-06 21:11:07.380] [info] Canceling active goal... + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780267.39019871 seconds ×2 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780267.97896457 seconds. ×2 + 2.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.61sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution" + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event" + 2.82sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/preview_solution"[0m + 2.82sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/agent_event"[0m + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Received new action goal + 3.74sINFOros2_control_node[2026-06-06 21:11:09.122] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00244865 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.17sINFOros2_control_node[2026-06-06 21:11:27.738] [info] Received new action goal + 0.17sINFOros2_control_node[2026-06-06 21:11:27.738] [info] Accepted new action goal + 0.61sINFOros2_control_node[2026-06-06 21:11:28.175] [info] Received new action goal + 0.61sINFOros2_control_node[2026-06-06 21:11:28.175] [info] Accepted new action goal + 1.82sINFOros2_control_node[2026-06-06 21:11:29.384] [info] Got request to cancel active goal. + 1.82sINFOros2_control_node[2026-06-06 21:11:29.384] [info] Canceling active goal... + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780780289.39659524 seconds ×2 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.84sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780780290.00612664 seconds. ×2 + 2.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.61sINFOros2_control_node[2026-06-06 21:11:30.169] [info] Received new action goal + 2.61sINFOros2_control_node[2026-06-06 21:11:30.169] [info] Accepted new action goal + 2.82sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.82sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.82sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.82sINFOfoxglove_bridgeRemoving channel 60 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.97sINFOros2_control_node[2026-06-06 21:11:32.531] [info] Received new action goal + 4.97sINFOros2_control_node[2026-06-06 21:11:32.531] [info] Accepted new action goal | ||||
| − 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: 1780780301.65357065 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780301.72369218 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780302.26515794 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780304.38528776 seconds ×2 + 3.29sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780304.94199204 seconds. ×2 + 3.33sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.33sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.39sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Accepted new action goal | ||||
| − 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: 1780780301.65357065 seconds. ×2 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780301.72369218 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780302.26515794 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.73sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Received new action goal + 0.73sINFOros2_control_node[2026-06-06 21:11:42.378] [info] Accepted new action goal + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780304.38528776 seconds ×2 + 3.29sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780304.94199204 seconds. ×2 + 3.33sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.33sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.39sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Received new action goal + 3.39sINFOros2_control_node[2026-06-06 21:11:45.045] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.04sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.65sINFOobjective_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 + 3.66sINFOobjective_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 + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal + 6.82sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.04sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.65sINFOobjective_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 + 3.66sINFOobjective_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 + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal + 6.82sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.04sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.65sINFOobjective_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 + 3.66sINFOobjective_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 + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal + 6.82sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.04sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.65sINFOobjective_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 + 3.66sINFOobjective_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 + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal + 6.82sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780311.67939234 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.34sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780312.34889627 seconds. ×2 + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.84sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.84sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836342366 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-06 21:11:52.836378077 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320703510 [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 + 1.64sINFOobjective_server_node[0;93m2026-06-06 21:11:53.320750851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.74sINFOobjective_server_node[0;93m2026-06-06 21:11:53.423882645 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426640903 [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 + 1.75sINFOobjective_server_node[0;93m2026-06-06 21:11:53.426667854 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.04sINFOobjective_server_node[0;93m2026-06-06 21:11:53.715550756 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729339867 [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 + 2.05sINFOobjective_server_node[0;93m2026-06-06 21:11:53.729372138 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780314.62801313 seconds ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780315.24592733 seconds. ×2 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.65sINFOobjective_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 + 3.66sINFOobjective_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 + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.86sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.86sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Received new action goal + 3.96sINFOros2_control_node[2026-06-06 21:11:55.641] [info] Accepted new action goal + 6.82sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Received new action goal + 6.83sINFOros2_control_node[2026-06-06 21:11:58.510] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 964 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×223 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×223 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×223 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×223 + 0.30sINFOjoint_trajectory_controllerGoal reached, success! ×29 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×29 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780430.90356278 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780780431.47810197 seconds. ×2 + 3.64sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.64sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 3.68sINFOobjective_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 (3.4e-07 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.78sINFOros2_control_node[2026-06-06 21:13:51.641] [info] Received new action goal + 3.78sINFOros2_control_node[2026-06-06 21:13:51.641] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 4 errors · 818 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×180 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×178 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×180 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×178 + 0.07sINFOjoint_trajectory_controllerGoal reached, success! ×43 + 0.07sINFOros2_control_nodeGoal reached, success![0m ×43 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780780464.52055049 seconds ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780464.610823) ×2 + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780780446.560823) that ends in the past (1780780464.610823)[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780780465.13500762 seconds. ×2 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.82sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.82sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.67sINFOobjective_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 + 4.77sINFOobjective_server_nodeFound path in 6 iterations (0.00421839 s). + 4.81sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 4.83sINFOros2_control_node[2026-06-06 21:14:26.309] [info] Received new action goal + 4.83sINFOros2_control_node[2026-06-06 21:14:26.309] [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 + 0.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780495.06517959 seconds ×2 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780495.80521441 seconds. ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 1.80sINFOobjective_server_nodePath shortcutter: [X______X] + 1.81sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Received new action goal + 1.81sINFOros2_control_node[2026-06-06 21:14:56.018] [info] Accepted new action goal + 1.82sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.82sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 1.82sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.82sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.82sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 26 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-06 21:15:04.032] [info] Accepted new action goal + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Received new action goal + 1.83sINFOros2_control_node[2026-06-06 21:15:05.858] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-06 21:15:05.985] [info] Canceling active goal... + 1.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780505.99922490 seconds ×2 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780506.62252522 seconds. ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 2.75sINFOobjective_server_nodePath shortcutter: [X________X] + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Received new action goal + 2.76sINFOros2_control_node[2026-06-06 21:15:06.795] [info] Accepted new action goal + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.08sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.08sINFOfoxglove_bridgeRemoving channel 74 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 13 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 5:10.008 of wall time (194/95691). Below 1% is expected on a non-realtime system.[0m + 1.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780780516.89279032 seconds ×2 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.07sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780780517.44240713 seconds. ×2 + 2.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.28sINFOobjective_server_nodePath shortcutter: [X________________X] + 2.29sINFOros2_control_node[2026-06-06 21:15:17.659] [info] Received new action goal + 2.29sINFOros2_control_node[2026-06-06 21:15:17.659] [info] Accepted new action goal + 2.31sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.31sINFOfoxglove_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: 1780780527.27717352 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780780527.83643341 seconds. ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.67sINFOros2_control_node[2026-06-06 21:15:27.949] [info] Received new action goal + 0.67sINFOros2_control_node[2026-06-06 21:15:27.949] [info] Accepted new action goal + 0.99sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution" + 0.99sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/preview_solution"[0m + 2.58sINFOobjective_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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [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: 1780780537.89661765 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780538.45231843 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780538.54244184 seconds ×2 + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.95sINFOfoxglove_bridgeRemoving channel 75 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780539.09089947 seconds. ×2 + 1.22sINFOobjective_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 + 1.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780539.11294580 seconds ×2 + 1.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780539.72151160 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.91sINFOobjective_server_nodePath shortcutter: [X___X] + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Received new action goal + 1.93sINFOros2_control_node[2026-06-06 21:15:39.826] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 40 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780550.00292826 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780550.55311251 seconds. ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780551.55341363 seconds ×2 + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780552.11638546 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.12sINFOobjective_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 + 2.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780552.11797404 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.46sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.47sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780552.67034221 seconds. ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780552.67073584 seconds ×2 + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780553.32484889 seconds. ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 40 info |
+ 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-06 21:15:49.991] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780550.00292826 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780550.55311251 seconds. ×2 + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event" + 0.96sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/agent_event"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures" + 1.46sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/pcd_pointcloud_captures"[0m + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780551.55341363 seconds ×2 + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.96sINFOfoxglove_bridgeRemoving channel 77 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780552.11638546 seconds. ×2 + 2.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.12sINFOobjective_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 + 2.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780552.11797404 seconds ×2 + 2.46sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.46sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.47sINFOfoxglove_bridgeRemoving channel 76 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780552.67034221 seconds. ×2 + 2.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780552.67073584 seconds ×2 + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 2.97sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780553.32484889 seconds. ×2 | ||||
▾
/__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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 5.7s | 14 warnings · 338 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/2026-06-06-21-10-01-501739-175540f279f4-10235 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.15sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.20sINFOros2_control_node-1process started with pid [10265] + 1.20sINFOmove_group-9process started with pid [10285] + 1.20sINFOparameter_manager_node-10process started with pid [10288] + 1.20sINFOwaypoint_manager_node-11process started with pid [10326] + 1.20sINFOmove_joint_resampler_node-12process started with pid [10328] + 1.20sINFOmove_end_effector_resampler_node-13process started with pid [10330] + 1.20sINFOobjective_server_node_main-14process started with pid [10332] + 1.20sINFOcomponent_container_mt-15process started with pid [10334] + 1.20sINFOexecute_objective_bridge-16process started with pid [10336] + 1.20sINFOui_teleop_bridge-17process started with pid [10338] + 1.20sINFOfoxglove_bridge-18process started with pid [10340] + 1.20sINFOtf2_web_republisher_node-19process started with pid [10342] + 1.20sINFOweb_video_server-20process started with pid [10348] + 1.20sINFOparameter_manager_nodeStarted parameter manager node. + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10267] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10269] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10271] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10273] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10275] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10279] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10282] + 1.21sWARNros2_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 + 1.21sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.54sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.54sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.55sINFOfoxglove_bridgeServer listening on port 3201 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.55sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.58sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static" + 1.58sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 1.58sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf" + 1.58sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 1.59sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout" + 1.59sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 1.59sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description" + 1.59sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" + 1.60sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.60sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.61sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.62sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.62sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.62sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.62sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.93sINFOros2_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. + 1.93sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.04sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 2.05sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.12sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.13sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.13sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.13sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.16sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.20sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.04sINFOobjective_server_node[2026-06-06 21:10:05.041] [moveit_pro_license] [info] + 3.04sINFOobjective_server_node************************************************* ×2 + 3.04sINFOobjective_server_node* MoveIt Pro License + 3.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.34sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.35sINFOcontroller_managerupdate rate is 600 Hz + 3.35sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.35sWARNcontroller_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. + 3.35sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.35sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.35sWARNros2_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 + 3.36sINFOobjective_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. + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.39sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.39sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.40sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.40sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.40sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.40sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.41sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 3.41sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 3.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 3.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 3.41sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 3.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 3.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 3.41sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 3.41sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 3.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.43sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.43sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.49sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.49sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.61sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.61sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.61sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.61sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.61sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.68sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.68sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10267] + 3.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.75sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.77sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.77sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.77sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.77sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.77sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.77sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.77sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.77sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.83sINFOros2_control_node[2026-06-06 21:10:05.831] [info] Controller state will be published at 20 Hz. + 3.83sINFOros2_control_node[2026-06-06 21:10:05.832] [info] JointVelocityController 'on_configure' succeeded. + 3.83sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.83sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.83sINFOros2_control_node[2026-06-06 21:10:05.833] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.83sINFOros2_control_node[2026-06-06 21:10:05.833] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.86sINFOros2_control_node[2026-06-06 21:10:05.860] [info] First order lag filter time constant set to: 0.2 seconds + 3.86sINFOros2_control_node[2026-06-06 21:10:05.860] [info] Controller state will be published at 50 Hz. + 3.86sINFOros2_control_node[2026-06-06 21:10:05.864] [info] Registered `FollowJointTrajectory` action server. + 3.86sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.86sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.88sINFOobjective_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. + 3.88sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.90sINFOros2_control_node[2026-06-06 21:10:05.901] [info] Controller state will be published at 10 Hz. + 3.90sINFOros2_control_node[2026-06-06 21:10:05.902] [info] VelocityForceController 'on_configure' succeeded. + 3.90sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.90sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.90sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.90sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.92sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.06sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event" + 4.06sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event"[0m + 4.06sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command" + 4.06sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command"[0m + 4.06sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 4.06sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state" + 4.07sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command" + 4.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" + 4.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.07sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 4.07sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 4.07sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.07sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.07sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 4.08sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 4.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 4.08sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 4.08sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 4.08sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 4.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10282] + 4.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10275] + 4.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10279] + 4.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10273] + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10271] + 4.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10269] + 4.27sWARNobjective_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/. + 4.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.34sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.38sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.38sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.38sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.46sINFOmove_group ×2 + 4.46sINFOmove_group[92mYou can start planning now![0m + 4.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 4.72sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 4.72sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 5.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780207.16608238 seconds. ×2 + 5.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780207.17625737 seconds ×2 + 5.27sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.27sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 5.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 5.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.78sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.78sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 7.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 8.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 8.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 8.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 9.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.25sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.59sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.78sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.79sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.79sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 53 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 4.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 5.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 5.21sINFOobjective_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 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 5.30sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.31sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 5.31sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
| − skipped | — | addtovector.xml | 0.0s | 11 warnings · 201 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/2026-06-06-21-10-01-501739-175540f279f4-10235 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.15sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.20sINFOros2_control_node-1process started with pid [10265] + 1.20sINFOmove_group-9process started with pid [10285] + 1.20sINFOparameter_manager_node-10process started with pid [10288] + 1.20sINFOwaypoint_manager_node-11process started with pid [10326] + 1.20sINFOmove_joint_resampler_node-12process started with pid [10328] + 1.20sINFOmove_end_effector_resampler_node-13process started with pid [10330] + 1.20sINFOobjective_server_node_main-14process started with pid [10332] + 1.20sINFOcomponent_container_mt-15process started with pid [10334] + 1.20sINFOexecute_objective_bridge-16process started with pid [10336] + 1.20sINFOui_teleop_bridge-17process started with pid [10338] + 1.20sINFOfoxglove_bridge-18process started with pid [10340] + 1.20sINFOtf2_web_republisher_node-19process started with pid [10342] + 1.20sINFOweb_video_server-20process started with pid [10348] + 1.20sINFOparameter_manager_nodeStarted parameter manager node. + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10267] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10269] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10271] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10273] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10275] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10279] + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10282] + 1.21sWARNros2_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 + 1.21sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.54sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.54sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.55sINFOfoxglove_bridgeServer listening on port 3201 + 1.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.55sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.58sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static" + 1.58sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf_static"[0m + 1.58sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf" + 1.58sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/tf"[0m + 1.59sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout" + 1.59sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/rosout"[0m + 1.59sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description" + 1.59sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/robot_description"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events" + 1.60sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/parameter_events"[0m + 1.60sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat" + 1.60sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/objective_server_heartbeat"[0m + 1.61sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state" + 1.61sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector" + 1.62sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint" + 1.62sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint" + 1.62sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector" + 1.62sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_joint"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/moveit_pro_ui/move_joint"[0m + 1.62sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/agent_interface/move_end_effector"[0m + 1.93sINFOros2_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. + 1.93sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.04sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic" + 2.05sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description_semantic"[0m + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world" + 2.07sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/planning_scene_world"[0m + 2.12sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene" + 2.12sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.13sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.13sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.13sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene" + 2.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states" + 2.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/monitored_planning_scene"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/joint_states"[0m + 2.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.14sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.14sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.16sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.20sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.04sINFOobjective_server_node[2026-06-06 21:10:05.041] [moveit_pro_license] [info] + 3.04sINFOobjective_server_node************************************************* ×2 + 3.04sINFOobjective_server_node* MoveIt Pro License + 3.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.34sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.35sINFOcontroller_managerupdate rate is 600 Hz + 3.35sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.35sWARNcontroller_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. + 3.35sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.35sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.35sWARNros2_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 + 3.36sINFOobjective_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. + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.39sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.39sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.40sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.40sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.40sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.40sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.41sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 3.41sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 3.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 3.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 3.41sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.41sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 3.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 3.41sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 3.41sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 3.41sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 3.41sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 3.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.43sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.43sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.49sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.49sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.61sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.61sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.61sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.61sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.61sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.68sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.68sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10267] + 3.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.75sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 1 warning · 84 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10282] + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10275] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10279] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10273] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10271] + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10269] + 0.17sWARNobjective_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/. + 0.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.36sINFOmove_group ×2 + 0.36sINFOmove_group[92mYou can start planning now![0m + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780207.16608238 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780207.17625737 seconds ×2 + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
| − skipped | — | createvector.xml | 0.0s | 1 warning · 84 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10282] + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10275] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10279] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10273] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10271] + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10269] + 0.17sWARNobjective_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/. + 0.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.36sINFOmove_group ×2 + 0.36sINFOmove_group[92mYou can start planning now![0m + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780207.16608238 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780207.17625737 seconds ×2 + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 1 warning · 84 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10282] + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10275] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10279] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10273] + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10271] + 0.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10269] + 0.17sWARNobjective_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/. + 0.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.25sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.36sINFOmove_group ×2 + 0.36sINFOmove_group[92mYou can start planning now![0m + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.62sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780207.16608238 seconds. ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780207.17625737 seconds ×2 + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.17sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.68sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 6.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 6.82sINFOobjective_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 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 6.93sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 51 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780207.71625280 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.07sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 4.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 5.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 5.21sINFOobjective_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 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 5.30sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.31sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 5.31sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780208.77637172 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 4.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.25sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [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: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780209.34694457 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780210.35710979 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780210.90014601 seconds. ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780210.92027617 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780211.48496938 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780211.63551116 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780212.27689576 seconds. ×2 + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780212.34708118 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780212.91142678 seconds. ×2 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.253e-05 s). + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Received new action goal + 3.68sINFOros2_control_node[2026-06-06 21:10:13.025] [info] Accepted new action goal + 6.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.10% of iterations over budget over 0:10.000 of wall time (3/3144). Below 1% is expected on a non-realtime system.[0m + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Received new action goal + 6.22sINFOros2_control_node[2026-06-06 21:10:15.565] [info] Accepted new action goal | ||||