118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
9.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.5s | 129 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780584700.88011551 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [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;93m2026-06-04 14:51:42.920298415 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.64sINFOobjective_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 + 3.65sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×3 + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Accepted new action goal + 9.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.84sINFOros2_control_node[2026-06-04 14:51:50.720] [info] Received new action goal + 9.84sINFOros2_control_node[2026-06-04 14:51:50.720] [info] Accepted new action goal + 12.79sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 12.80sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.82sINFOros2_control_node[2026-06-04 14:51:53.702] [info] Received new action goal + 12.82sINFOros2_control_node[2026-06-04 14:51:53.702] [info] Accepted new action goal + 15.77sINFOobjective_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 + 22.51sINFOobjective_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 + 23.49sINFOros2_control_node[2026-06-04 14:52:04.369] [info] Received new action goal + 23.49sINFOros2_control_node[2026-06-04 14:52:04.369] [info] Accepted new action goal + 24.66sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×2 + 24.67sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×2 + 24.93sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 24.93sINFOobjective_server_nodePath shortcutter: [X___________X] + 24.96sINFOros2_control_node[2026-06-04 14:52:05.842] [info] Received new action goal + 24.96sINFOros2_control_node[2026-06-04 14:52:05.842] [info] Accepted new action goal + 26.97sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.14% of iterations over budget over 2:10.006 of wall time (57/40152). Below 1% is expected on a non-realtime system.[0m + 27.09sINFOobjective_server_nodePath shortcutter: [X__________X] + 27.09sINFOros2_control_node[2026-06-04 14:52:07.973] [info] Received new action goal + 27.09sINFOros2_control_node[2026-06-04 14:52:07.973] [info] Accepted new action goal + 30.16sINFOros2_control_node[2026-06-04 14:52:11.039] [info] Received new action goal + 30.16sINFOros2_control_node[2026-06-04 14:52:11.040] [info] Accepted new action goal + 32.58sINFOobjective_server_nodePath shortcutter: [X________________X] + 32.63sINFOros2_control_node[2026-06-04 14:52:13.505] [info] Received new action goal + 32.63sINFOros2_control_node[2026-06-04 14:52:13.505] [info] Accepted new action goal + 43.27sINFOros2_control_node[2026-06-04 14:52:24.149] [info] Received new action goal + 43.27sINFOros2_control_node[2026-06-04 14:52:24.149] [info] Accepted new action goal + 44.43sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780584745.30694652 seconds ×2 + 45.14sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780584746.02234101 seconds. ×2 + 45.45sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.45sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.41sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.42sINFOros2_control_node[2026-06-04 14:52:27.295] [info] Received new action goal + 46.42sINFOros2_control_node[2026-06-04 14:52:27.295] [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 | 2 errors · 13811 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780584756.96343350 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780584757.56712508 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.76sINFOros2_control_node[2026-06-04 14:52:37.720] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-04 14:52:37.720] [info] Accepted new action goal + 0.95sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.95sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.03sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.08sINFOobjective_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 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×3423 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×3423 + 4.50sINFOros2_control_nodeReceived new action goal[0m ×3423 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×3423 + 9.09sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 9.19sINFOjoint_trajectory_controllerGoal reached, success! ×36 + 9.19sINFOros2_control_nodeGoal reached, success![0m ×36 + 23.76sERRORobjective_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 + 30.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.20% of iterations over budget over 3:10.007 of wall time (118/58603). Below 1% is expected on a non-realtime system.[0m + 37.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780584794.87128282 seconds ×2 + 38.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780584795.44450879 seconds. ×2 + 38.52sINFOobjective_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 + 38.60sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 38.61sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 38.63sINFOros2_control_node[2026-06-04 14:53:15.596] [info] Received new action goal + 38.63sINFOros2_control_node[2026-06-04 14:53:15.596] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.7s | 2 errors · 111 info |
+ 0.00sINFOobjective_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 + 0.04sINFOobjective_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 + 0.84sERRORobjective_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 + 0.84sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780584837.20219064 seconds ×2 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780584837.80778027 seconds. ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.52sINFOobjective_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 + 2.60sINFOobjective_server_nodeFound path in 7 iterations (0.00475825 s). + 2.65sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.66sINFOros2_control_node[2026-06-04 14:53:59.023] [info] Received new action goal + 2.66sINFOros2_control_node[2026-06-04 14:53:59.025] [info] Accepted new action goal + 10.31sINFOobjective_server_node[0;m[0;93m2026-06-04 14:54:06.676483373 [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 + 10.31sINFOobjective_server_node[0;93m2026-06-04 14:54:06.676513724 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.78sINFOobjective_server_node[0;93m2026-06-04 14:54:07.146726739 [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 + 10.78sINFOobjective_server_node[0;93m2026-06-04 14:54:07.146760480 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.89sINFOobjective_server_node[0;93m2026-06-04 14:54:07.253661460 [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 + 10.89sINFOobjective_server_node[0;93m2026-06-04 14:54:07.256038700 [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 + 10.89sINFOobjective_server_node[0;93m2026-06-04 14:54:07.256062840 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.18sINFOobjective_server_node[0;93m2026-06-04 14:54:07.542991126 [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 + 11.20sINFOobjective_server_node[0;93m2026-06-04 14:54:07.564881945 [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 + 11.20sINFOobjective_server_node[0;93m2026-06-04 14:54:07.564919606 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.23% of iterations over budget over 4:10.008 of wall time (181/77046). Below 1% is expected on a non-realtime system.[0m + 12.31sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization" + 12.31sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/masks_visualization"[0m + 12.82sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 12.82sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m + 12.82sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 13.33sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 13.33sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 16.69sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 16.85sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 16.85sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 17.02sINFOobjective_server_nodeFound path in 4 iterations (0.00198041 s). + 17.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 17.10sINFOobjective_server_nodeFound path in 12 iterations (0.00504571 s). + 17.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 17.18sINFOobjective_server_nodeFound path in 1 iterations (0.00270736 s). + 17.23sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] + 17.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 17.27sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 17.29sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 17.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 17.32sINFOobjective_server_nodeFound path in 8 iterations (0.00218205 s). + 17.35sINFOobjective_server_nodePath shortcutter: [X___________________________________X____X_____________________X] + 17.37sINFOobjective_server_nodeFound path in 1 iterations (0.00287645 s). + 17.41sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] + 17.43sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 17.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 17.47sINFOobjective_server_nodeFound path in 4 iterations (0.00354854 s). + 17.52sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 17.55sINFOobjective_server_nodeFound path in 4 iterations (0.00306903 s). + 17.61sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] + 17.64sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×3 + 17.68sINFOobjective_server_nodePath shortcutter: [X____________________________________________________X] + 17.72sINFOobjective_server_nodeFound path in 1 iterations (0.0044226 s). + 17.75sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] + 17.78sINFOobjective_server_nodeFound path in 1 iterations (0.00293896 s). + 17.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] + 17.85sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 17.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 17.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] + 18.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] + 18.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 18.08sINFOros2_control_node[2026-06-04 14:54:14.444] [info] Received new action goal + 18.08sINFOros2_control_node[2026-06-04 14:54:14.444] [info] Accepted new action goal + 23.09sINFOros2_control_node[2026-06-04 14:54:19.453] [info] Received new action goal + 23.09sINFOros2_control_node[2026-06-04 14:54:19.453] [info] Accepted new action goal + 24.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 24.81sINFOros2_control_node[2026-06-04 14:54:21.170] [info] Received new action goal + 24.81sINFOros2_control_node[2026-06-04 14:54:21.170] [info] Accepted new action goal + 26.04sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 26.08sINFOros2_control_node[2026-06-04 14:54:22.441] [info] Received new action goal + 26.08sINFOros2_control_node[2026-06-04 14:54:22.441] [info] Accepted new action goal + 31.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780584867.85797787 seconds ×2 + 32.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780584868.59886050 seconds. ×2 + 32.41sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 32.41sINFOobjective_server_nodePath shortcutter: [X______X] + 32.42sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Received new action goal + 32.42sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Accepted new action goal + 32.49sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 32.49sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 32.49sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 32.49sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 32.49sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 32.49sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 28.0s | 2 errors · 80 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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Accepted new action goal + 21.92sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 21.92sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 22.43sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 22.43sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 23.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 23.66sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). + 23.67sINFOobjective_server_nodePath shortcutter: [X___________X] + 23.68sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 23.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 23.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 23.74sINFOobjective_server_nodeFound path in 1 iterations (0.00197632 s). + 23.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 23.84sINFOros2_control_node[2026-06-04 14:50:38.875] [info] Received new action goal + 23.84sINFOros2_control_node[2026-06-04 14:50:38.875] [info] Accepted new action goal + 23.95sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 23.95sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 26.36sINFOros2_control_node[2026-06-04 14:50:41.398] [info] Received new action goal + 26.36sINFOros2_control_node[2026-06-04 14:50:41.398] [info] Accepted new action goal + 28.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 28.12sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Received new action goal + 28.12sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Accepted new action goal + 29.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780584644.54156494 seconds ×2 + 30.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780584645.12796044 seconds. ×2 + 30.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780584645.21008492 seconds ×2 + 30.51sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 30.51sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 30.82sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780584645.85406065 seconds. ×2 + 30.93sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 30.93sINFOobjective_server_nodePath shortcutter: [X_____________X] + 30.94sINFOros2_control_node[2026-06-04 14:50:45.977] [info] Received new action goal + 30.94sINFOros2_control_node[2026-06-04 14:50:45.978] [info] Accepted new action goal + 31.02sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 31.02sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[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 | 60 errors · 7783 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1741 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1711 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1741 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1711 + 0.02sINFOjoint_trajectory_controllerGoal reached, success! ×424 + 0.02sINFOros2_control_nodeGoal reached, success![0m ×424 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780584794.87128282 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780584795.44450879 seconds. ×2 + 3.64sINFOobjective_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 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.73sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 3.75sINFOros2_control_node[2026-06-04 14:53:15.596] [info] Received new action goal + 3.75sINFOros2_control_node[2026-06-04 14:53:15.596] [info] Accepted new action goal + 7.66sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.72sINFOobjective_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 + 7.73sINFOobjective_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 + 10.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584802.385244) + 10.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584802.385244)[0m + 11.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584802.935244) + 11.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584802.935244)[0m + 11.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584803.615244) ×2 + 11.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584803.615244)[0m ×2 + 12.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.115244) + 12.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.115244)[0m + 12.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.125244) + 12.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.135244) + 12.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.125244)[0m + 12.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.135244)[0m + 12.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.145244) + 12.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.145244)[0m + 12.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.815244) ×2 + 12.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584804.815244)[0m ×2 + 13.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.305244) + 13.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.305244)[0m + 13.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.315244) + 13.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.315244)[0m + 13.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.335244) + 13.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.335244)[0m + 14.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.985244) + 14.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.995244) ×2 + 14.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.985244)[0m + 14.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584805.995244)[0m ×2 + 15.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.155244) + 15.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.155244)[0m + 15.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.165244) + 15.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.165244)[0m + 15.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.705244) + 15.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.705244)[0m + 15.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.715244) + 15.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.725244) + 15.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.715244)[0m + 15.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584807.725244)[0m + 16.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584808.395244) + 16.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584808.395244)[0m + 17.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584808.945244) ×2 + 17.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584808.945244)[0m ×2 + 18.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584810.195244) + 18.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584810.195244)[0m + 20.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584812.685244) + 20.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584812.685244)[0m + 20.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584812.695244) + 20.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584812.695244)[0m + 27.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780584819.58096218 seconds ×2 + 27.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.635244) + 27.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.635244)[0m + 27.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.655244) + 27.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.655244)[0m + 27.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.665244) + 27.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.665244)[0m + 28.32sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780584820.17003059 seconds. ×2 + 28.44sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 28.44sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 28.46sINFOros2_control_node[2026-06-04 14:53:40.303] [info] Received new action goal + 28.46sINFOros2_control_node[2026-06-04 14:53:40.303] [info] Accepted new action goal + 28.63sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 28.63sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 17.6s | 8 errors · 1024 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×216 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×213 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×216 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×213 + 0.09sINFOjoint_trajectory_controllerGoal reached, success! ×62 + 0.09sINFOros2_control_nodeGoal reached, success![0m ×62 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780584819.58096218 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.635244) + 3.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.635244)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.655244) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.655244)[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.665244) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.665244)[0m + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780584820.17003059 seconds. ×2 + 3.65sINFOobjective_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 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.75sINFOros2_control_node[2026-06-04 14:53:40.303] [info] Received new action goal + 3.75sINFOros2_control_node[2026-06-04 14:53:40.303] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.78sINFOros2_control_node[2026-06-04 14:53:46.329] [info] Received new action goal + 9.78sINFOros2_control_node[2026-06-04 14:53:46.329] [info] Accepted new action goal + 14.81sINFOros2_control_node[2026-06-04 14:53:51.361] [info] Received new action goal + 14.81sINFOros2_control_node[2026-06-04 14:53:51.361] [info] Accepted new action goal + 19.81sINFOobjective_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 + 19.85sINFOobjective_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 + 20.65sERRORobjective_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 + 20.65sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780584837.20219064 seconds ×2 + 21.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780584837.80778027 seconds. ×2 + 21.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 21.26sINFOros2_control_nodeReceived & accepted new action goal[0m + 21.55sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 21.55sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 22.41sINFOobjective_server_nodeFound path in 7 iterations (0.00475825 s). + 22.46sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 22.47sINFOros2_control_node[2026-06-04 14:53:59.023] [info] Received new action goal + 22.48sINFOros2_control_node[2026-06-04 14:53:59.025] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 23 errors · 3 warnings · 140 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780584922.91882348 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780584923.48626137 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780584924.76638389 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780584925.31135082 seconds. ×2 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780584925.31284761 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780584925.85593295 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780584925.85644984 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780584926.51733208 seconds. ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780584928.61169028 seconds ×2 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 11.69sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.69sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.70sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.71sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.71sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 11.71sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 11.72sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 11.73sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.74sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.74sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.75sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.76sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.76sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.77sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.78sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.79sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.80sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.80sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.80sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.80sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.80sINFOcontroller_managerShutdown request received.... + 11.80sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.80sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.80sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.80sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.80sERRORui_teleop_bridgeTraceback (most recent call last): + 11.80sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.80sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.80sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.80sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.80sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.80sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.80sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.80sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.80sINFOui_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 + 11.80sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.80sINFOui_teleop_bridgerclpy.shutdown() + 11.80sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.80sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.80sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.80sINFOui_teleop_bridge_shutdown(context=context) + 11.80sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.80sINFOui_teleop_bridgereturn context.shutdown() + 11.80sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.80sINFOui_teleop_bridgeself.__context.shutdown() + 11.80sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.80sINFOcontroller_managerShutting down the controller manager. + 11.80sWARNparameter_manager_nodeROS node was shutdown. + 11.80sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.81sINFOros2_control_nodeShutdown request received....[0m + 11.81sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.81sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.81sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.81sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.81sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.81sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.81sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.81sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.81sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.81sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.81sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.81sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.81sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.81sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.81sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.81sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.81sINFOros2_control_nodeShutting down the controller manager.[0m + 11.84sINFOobjective_server_node[0;m[2026-06-04 14:55:34.751] [moveit_pro_license] [info] + 11.84sINFOobjective_server_node************************************************* ×2 + 11.84sINFOobjective_server_node* MoveIt Pro License + 11.84sINFOobjective_server_node* Application has successfully terminated + 11.93sINFOfoxglove_bridgeShutdown complete[0m + 11.94sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10354] + 11.94sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.95sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.95sERRORobjective_server_nodeStack trace (most recent call last): + 11.95sINFOweb_video_server-20process has finished cleanly [pid 10356] + 11.96sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.96sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d2863d24e4, in _start + 11.96sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f66e0ae3f, in __libc_start_main + 11.96sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f66e0ad96, in + 11.96sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f66e2660f, in exit + 11.96sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f66e26494, in + 11.96sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f2f672af251, in spdlog::details::registry::~registry() + 11.96sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.9.2", at 0x7f2f672b9e66, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() + 11.96sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d2863d7cba, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<spdlog::async_logger>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 11.96sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d2863d4bf3, in spdlog_ros::RosSink::~RosSink() + 11.96sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55d2863d9e01, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 11.96sINFOobjective_server_node#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2f677a4b2e, in rclcpp::Node::~Node() + 11.96sINFOobjective_server_node#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2f6777fd39, in + 11.96sINFOobjective_server_node#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2f677ae0b9, in + 11.96sINFOobjective_server_node#2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2f677ae000, in rclcpp::node_interfaces::NodeBase::~NodeBase() + 11.96sINFOobjective_server_node#1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2f6777fd39, in + 11.96sINFOobjective_server_node#0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f2f67784b31, in rclcpp::CallbackGroup::~CallbackGroup() + 11.97sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f2f2927f3f0]) + 11.98sERRORui_teleop_bridge-17process has died [pid 10350, 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_r_1iq4wp']. + 11.98sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10342] + 12.01sINFOexecute_objective_bridge-16process has finished cleanly [pid 10348] + 12.56sERRORobjective_server_node_main-14process has died [pid 10344, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_wlho_sij --params-file /tmp/launch_params_39rw4qnc --params-file /tmp/launch_params_t6_t8ar8 --params-file /tmp/launch_params_hr7hynhf --params-file /tmp/launch_params_mcrkx0pv --params-file /tmp/launch_params_1gdqhbzm']. + 12.56sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.80sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10340] + 12.84sINFOwaypoint_manager_node-11process has finished cleanly [pid 10338] + 12.85sINFOparameter_manager_node-10process has finished cleanly [pid 10300] + 12.90sINFOcomponent_container_mt-15process has finished cleanly [pid 10346] + 13.11sINFOmove_group-9process has finished cleanly [pid 10297] + 13.45sINFOros2_control_node-1process has finished cleanly [pid 10277] + 13.76sINFOfoxglove_bridge-18process has finished cleanly [pid 10352] + 13.76sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 2 errors · 65 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00203375 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.16sINFOros2_control_node[2026-06-04 14:51:17.125] [info] Received new action goal + 0.16sINFOros2_control_node[2026-06-04 14:51:17.125] [info] Accepted new action goal + 0.61sINFOros2_control_node[2026-06-04 14:51:17.566] [info] Received new action goal + 0.61sINFOros2_control_node[2026-06-04 14:51:17.566] [info] Accepted new action goal + 1.46sINFOros2_control_node[2026-06-04 14:51:18.419] [info] Got request to cancel active goal. + 1.46sINFOros2_control_node[2026-06-04 14:51:18.419] [info] Canceling active goal... + 1.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780584678.43740678 seconds ×2 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.48sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780584679.08694053 seconds. ×2 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.28sINFOros2_control_node[2026-06-04 14:51:19.243] [info] Received new action goal + 2.28sINFOros2_control_node[2026-06-04 14:51:19.243] [info] Accepted new action goal + 2.35sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.35sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.35sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.35sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.66sINFOros2_control_node[2026-06-04 14:51:21.616] [info] Received new action goal + 4.66sINFOros2_control_node[2026-06-04 14:51:21.616] [info] Accepted new action goal + 13.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780584690.16936851 seconds ×2 + 13.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780584690.71304584 seconds. ×2 + 13.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 13.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 13.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780584690.80319476 seconds ×2 + 14.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780584691.34718132 seconds. ×2 + 14.48sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 14.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.49sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Received new action goal + 14.49sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Accepted new action goal + 16.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780584693.45732450 seconds ×2 + 17.06sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780584694.02274966 seconds. ×2 + 17.16sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 17.18sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Received new action goal + 17.18sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Accepted new action goal | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 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[2026-06-04 14:52:24.149] [info] Received new action goal + 0.93sINFOros2_control_node[2026-06-04 14:52:24.149] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780584745.30694652 seconds ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780584746.02234101 seconds. ×2 + 3.11sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.11sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 4.07sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.08sINFOros2_control_node[2026-06-04 14:52:27.295] [info] Received new action goal + 4.08sINFOros2_control_node[2026-06-04 14:52:27.295] [info] Accepted new action goal + 7.78sINFOobjective_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 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 10.12sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.13sINFOros2_control_node[2026-06-04 14:52:33.345] [info] Received new action goal + 10.13sINFOros2_control_node[2026-06-04 14:52:33.345] [info] Accepted new action goal + 13.74sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780584756.96343350 seconds ×2 + 14.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780584757.56712508 seconds. ×2 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 14.49sINFOobjective_server_nodePath shortcutter: [X___X] + 14.50sINFOros2_control_node[2026-06-04 14:52:37.720] [info] Received new action goal + 14.50sINFOros2_control_node[2026-06-04 14:52:37.720] [info] Accepted new action goal + 14.69sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 14.69sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 15.77sINFOobjective_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 + 15.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 4 errors · 2 warnings · 77 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal + 10.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 10.28sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution" + 10.28sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/solution"[0m + 10.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 10.52sINFOobjective_server_nodePath shortcutter: [X__________X] + 10.52sINFOobjective_server_nodeFound path in 0 iterations (1.6e-07 s). + 10.53sINFOobjective_server_nodePath shortcutter: [X________________X] + 10.53sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 10.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 10.56sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 10.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 10.59sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 10.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 10.63sINFOobjective_server_nodeFound path in 1 iterations (0.00179152 s). + 10.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 10.72sINFOobjective_server_nodeFound path in 1 iterations (0.00276963 s). + 10.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 10.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 10.91sINFOros2_control_node[2026-06-04 14:51:04.805] [info] Received new action goal + 10.91sINFOros2_control_node[2026-06-04 14:51:04.805] [info] Accepted new action goal + 13.38sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×2 + 13.67sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 13.68sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 13.68sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×2 + 13.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780584667.58405256 seconds ×2 + 13.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 1:10.003 of wall time (20/21670). Below 1% is expected on a non-realtime system.[0m + 14.27sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780584668.16062403 seconds. ×2 + 14.31sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.31sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.31sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.31sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.47sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 14.48sINFOros2_control_node[2026-06-04 14:51:08.374] [info] Received new action goal + 14.48sINFOros2_control_node[2026-06-04 14:51:08.374] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 2 errors · 70 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780584644.54156494 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780584645.12796044 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780584645.21008492 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780584645.85406065 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.19sINFOros2_control_node[2026-06-04 14:50:45.977] [info] Received new action goal + 3.19sINFOros2_control_node[2026-06-04 14:50:45.978] [info] Accepted new action goal + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Received new action goal + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Accepted new action goal + 8.85sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 8.86sINFOros2_control_node[2026-06-04 14:50:51.645] [info] Received new action goal + 8.86sINFOros2_control_node[2026-06-04 14:50:51.645] [info] Accepted new action goal + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 11.24sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 11.24sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 13.57sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 13.58sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 13.58sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 13.63sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 13.63sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 13.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 14.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 14.33sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 14.33sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 14.33sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 14.33sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.35sINFOobjective_server_nodePath shortcutter: [X______X] + 15.36sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 15.36sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 2 errors · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 1.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 1.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 1.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 1.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 2.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 2.53sINFOobjective_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 + 2.62sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 2.62sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.64sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 2.64sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 4.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 5.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.15sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 5.15sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). + 8.92sINFOros2_control_node[2026-06-04 14:50:11.805] [info] Received new action goal + 8.92sINFOros2_control_node[2026-06-04 14:50:11.805] [info] Accepted new action goal + 12.22sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 12.23sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.24sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 12.24sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 12.91sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 12.91sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 12.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 13.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 13.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 14.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 14.45sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.45sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.35sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 15.35sINFOobjective_server_nodePath shortcutter: [X______X] + 15.36sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 15.36sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 4 errors · 32 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 12.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780584889.81862831 seconds ×2 + 12.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780584890.36354399 seconds. ×2 + 12.95sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 12.95sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.03sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 13.03sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.05sINFOros2_control_node[2026-06-04 14:54:50.594] [info] Received new action goal + 13.05sINFOros2_control_node[2026-06-04 14:54:50.594] [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: 1780584910.81150365 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Accepted new action goal + 5.21sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.22sINFOros2_control_node[2026-06-04 14:55:16.027] [info] Received new action goal + 5.22sINFOros2_control_node[2026-06-04 14:55:16.027] [info] Accepted new action goal + 5.22sINFOros2_control_node[2026-06-04 14:55:16.028] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.10sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Got request to cancel active goal. + 12.10sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Canceling active goal... + 12.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780584922.91882348 seconds ×2 + 12.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780584923.48626137 seconds. ×2 + 12.92sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.92sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 13.94sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 13.94sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 13.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780584924.76638389 seconds ×2 + 14.44sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 14.44sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 14.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780584925.31135082 seconds. ×2 + 14.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.50sINFOobjective_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 + 14.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780584925.31284761 seconds ×2 + 14.95sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.95sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 14.95sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.95sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 15.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780584925.85593295 seconds. ×2 + 15.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780584925.85644984 seconds ×2 + 15.46sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 15.46sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 15.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780584926.51733208 seconds. ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 2 errors · 66 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780584867.85797787 seconds ×2 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780584868.59886050 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X______X] + 1.98sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Accepted new action goal + 2.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.06sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 6.08sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 6.08sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m + 6.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.58sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.80sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 8.06sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). + 8.06sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 8.10sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 8.10sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 8.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.12sINFOobjective_server_nodeFound path in 1 iterations (0.00208531 s). + 8.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 8.21sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 8.22sINFOros2_control_node[2026-06-04 14:54:35.024] [info] Received new action goal + 8.22sINFOros2_control_node[2026-06-04 14:54:35.024] [info] Accepted new action goal + 10.75sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 10.75sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 12.02sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 12.02sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 12.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 12.63sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.63sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 12.77sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 12.78sINFOobjective_server_nodePath shortcutter: [X________X] + 12.78sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 12.78sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 13.13sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 13.13sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.8s | 4 errors · 2 warnings · 86 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 0.13sINFOros2_control_node[2026-06-04 14:51:04.805] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:51:04.805] [info] Accepted new action goal + 2.61sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×2 + 2.90sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 2.90sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 2.90sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780584667.58405256 seconds ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.17sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 1:10.003 of wall time (20/21670). Below 1% is expected on a non-realtime system.[0m + 3.49sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780584668.16062403 seconds. ×2 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.54sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.54sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.54sINFOfoxglove_bridgeRemoving channel 62 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.54sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.69sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 3.69sINFOobjective_server_nodePath shortcutter: [X______X] + 3.70sINFOros2_control_node[2026-06-04 14:51:08.374] [info] Received new action goal + 3.70sINFOros2_control_node[2026-06-04 14:51:08.374] [info] Accepted new action goal + 9.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 9.07sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 9.07sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 9.17sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 9.17sINFOobjective_server_nodePath shortcutter: [X__________X] + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 9.17sINFOobjective_server_nodePath shortcutter: [X________________X] + 9.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 9.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 9.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 9.30sINFOobjective_server_nodeFound path in 1 iterations (0.00274514 s). + 9.37sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 9.39sINFOobjective_server_nodeFound path in 1 iterations (0.00419629 s). + 9.47sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 9.57sINFOros2_control_node[2026-06-04 14:51:14.236] [info] Received new action goal + 9.57sINFOros2_control_node[2026-06-04 14:51:14.236] [info] Accepted new action goal + 12.29sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 12.29sINFOobjective_server_nodePath shortcutter: [X_X] + 12.29sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 12.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 12.30sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 12.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 12.35sINFOobjective_server_nodeFound path in 1 iterations (0.00203375 s). + 12.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 12.45sINFOros2_control_node[2026-06-04 14:51:17.125] [info] Received new action goal + 12.45sINFOros2_control_node[2026-06-04 14:51:17.125] [info] Accepted new action goal + 12.90sINFOros2_control_node[2026-06-04 14:51:17.566] [info] Received new action goal + 12.90sINFOros2_control_node[2026-06-04 14:51:17.566] [info] Accepted new action goal + 13.75sINFOros2_control_node[2026-06-04 14:51:18.419] [info] Got request to cancel active goal. + 13.75sINFOros2_control_node[2026-06-04 14:51:18.419] [info] Canceling active goal... + 13.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780584678.43740678 seconds ×2 + 14.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780584679.08694053 seconds. ×2 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 14.57sINFOros2_control_node[2026-06-04 14:51:19.243] [info] Received new action goal + 14.57sINFOros2_control_node[2026-06-04 14:51:19.243] [info] Accepted new action goal + 14.64sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.64sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.64sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 14.64sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 16.95sINFOros2_control_node[2026-06-04 14:51:21.616] [info] Received new action goal + 16.95sINFOros2_control_node[2026-06-04 14:51:21.616] [info] Accepted new action goal | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.6s | 2 errors · 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780584900.20291424 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780584900.76134157 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 (2.9e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 14:55:00.879] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 14:55:00.879] [info] Accepted new action goal + 0.86sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.86sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 2.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 7.65sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.009 of wall time (208/95535). Below 1% is expected on a non-realtime system.[0m + 10.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780584910.81150365 seconds ×2 + 11.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 11.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 11.43sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.43sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.78sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 11.80sINFOobjective_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 + 11.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 12.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 12.50sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 12.50sINFOobjective_server_nodePath shortcutter: [X___X] + 12.51sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 12.51sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Accepted new action goal | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 30 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780584889.81862831 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780584890.36354399 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.68sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-04 14:54:50.594] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-04 14:54:50.594] [info] Accepted new action goal + 4.80sINFOros2_control_node[2026-06-04 14:54:54.620] [info] Received new action goal + 4.80sINFOros2_control_node[2026-06-04 14:54:54.620] [info] Accepted new action goal + 10.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780584900.20291424 seconds ×2 + 10.94sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780584900.76134157 seconds. ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 11.04sINFOobjective_server_nodePath shortcutter: [X________X] + 11.06sINFOros2_control_node[2026-06-04 14:55:00.879] [info] Received new action goal + 11.06sINFOros2_control_node[2026-06-04 14:55:00.879] [info] Accepted new action goal + 11.25sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.25sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 12.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.4s | 85 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780584690.71304584 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780584690.80319476 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780584691.34718132 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780584693.45732450 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780584694.02274966 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.42sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Accepted new action goal + 3.69sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.69sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 7.95sINFOobjective_server_node[0;93m2026-06-04 14:51:38.658117221 [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 + 7.95sINFOobjective_server_node[0;93m2026-06-04 14:51:38.658145121 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.48sINFOobjective_server_node[0;93m2026-06-04 14:51:39.188890268 [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 + 8.48sINFOobjective_server_node[0;93m2026-06-04 14:51:39.188922898 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.59sINFOobjective_server_node[0;93m2026-06-04 14:51:39.299735346 [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 + 8.59sINFOobjective_server_node[0;93m2026-06-04 14:51:39.302645398 [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 + 8.59sINFOobjective_server_node[0;93m2026-06-04 14:51:39.302669109 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 8.86sINFOobjective_server_node[0;93m2026-06-04 14:51:39.572541004 [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 + 8.88sINFOobjective_server_node[0;93m2026-06-04 14:51:39.589804945 [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 + 8.88sINFOobjective_server_node[0;93m2026-06-04 14:51:39.589871407 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 10.17sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780584700.88011551 seconds ×2 + 10.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 10.24sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 10.84sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 11.24sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.24sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.24sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 11.24sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 11.32sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [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 + 11.32sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.83sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [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 + 11.83sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.93sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 11.93sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 11.93sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.21sINFOobjective_server_node[0;93m2026-06-04 14:51:42.920298415 [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 + 12.23sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [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 + 12.23sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 13.26sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 13.26sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 13.72sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 13.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.73sINFOros2_control_nodeReceived & accepted new action goal[0m + 13.76sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.76sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 13.80sINFOobjective_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 + 13.81sINFOobjective_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 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 13.98sINFOobjective_server_nodePath shortcutter: [X____________X] + 14.00sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 14.00sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 2.9s | 62 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-04 14:51:38.658117221 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.00sINFOobjective_server_node[0;93m2026-06-04 14:51:38.658145121 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.53sINFOobjective_server_node[0;93m2026-06-04 14:51:39.188890268 [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 + 0.53sINFOobjective_server_node[0;93m2026-06-04 14:51:39.188922898 [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;93m2026-06-04 14:51:39.299735346 [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;93m2026-06-04 14:51:39.302645398 [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;93m2026-06-04 14:51:39.302669109 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.91sINFOobjective_server_node[0;93m2026-06-04 14:51:39.572541004 [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;93m2026-06-04 14:51:39.589804945 [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;93m2026-06-04 14:51:39.589871407 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.22sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780584700.88011551 seconds ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.29sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 3.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.37sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [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 + 3.37sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.89sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [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 + 3.89sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 3.98sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 3.99sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 3.99sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.26sINFOobjective_server_node[0;93m2026-06-04 14:51:42.920298415 [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 + 4.28sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 4.28sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.17sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 5.31sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 5.31sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 5.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 5.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.78sINFOros2_control_nodeReceived & accepted new action goal[0m + 5.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 5.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 5.86sINFOobjective_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 + 5.87sINFOobjective_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 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.03sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.06sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 6.06sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal + 6.32sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 6.32sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 8.88sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 8.89sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Received new action goal + 8.89sINFOros2_control_node[2026-06-04 14:51:47.550] [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: 1780584690.16936851 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780584690.71304584 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: 1780584690.80319476 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780584691.34718132 seconds. ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780584693.45732450 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780584694.02274966 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.97sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Accepted new action goal + 4.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 2 errors · 2 warnings · 40 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780584922.91882348 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780584923.48626137 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780584924.76638389 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780584925.31135082 seconds. ×2 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780584925.31284761 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780584925.85593295 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780584925.85644984 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780584926.51733208 seconds. ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 12 warnings · 251 info |
+ 0.00sINFOobjective_server_node[2026-06-04 14:49:57.529] [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) + 0.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.26sINFOobjective_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. + 0.26sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.27sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.27sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.27sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.27sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.27sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.27sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.27sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.27sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.29sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.29sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.29sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.29sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.29sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.29sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.30sINFOcontroller_managerupdate rate is 600 Hz + 0.30sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.30sWARNcontroller_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. + 0.30sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.30sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.30sWARNros2_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 + 0.32sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.32sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.33sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 0.33sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 0.34sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 0.34sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 0.34sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 0.35sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 0.35sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 0.35sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 0.35sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 0.35sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 0.35sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 0.35sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 0.35sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 0.35sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 0.35sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 0.35sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 0.35sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.46sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.49sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.49sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.49sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.49sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.50sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.56sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.58sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.60sINFOobjective_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. + 0.60sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.65sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.65sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.70sINFOros2_control_node[2026-06-04 14:49:58.233] [info] Controller state will be published at 20 Hz. + 0.71sINFOros2_control_node[2026-06-04 14:49:58.234] [info] JointVelocityController 'on_configure' succeeded. + 0.71sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.71sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.71sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.71sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.71sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.71sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.71sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.71sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.72sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.72sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.72sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.72sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.72sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.72sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.75sINFOros2_control_node[2026-06-04 14:49:58.277] [info] Controller state will be published at 10 Hz. + 0.75sINFOros2_control_node[2026-06-04 14:49:58.278] [info] VelocityForceController 'on_configure' succeeded. + 0.75sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.75sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.75sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.75sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.75sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.75sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.75sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.75sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.75sINFOros2_control_node[2026-06-04 14:49:58.282] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.75sINFOros2_control_node[2026-06-04 14:49:58.282] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.78sINFOros2_control_node[2026-06-04 14:49:58.310] [info] First order lag filter time constant set to: 0.2 seconds + 0.78sINFOros2_control_node[2026-06-04 14:49:58.310] [info] Controller state will be published at 50 Hz. + 0.79sINFOros2_control_node[2026-06-04 14:49:58.315] [info] Registered `FollowJointTrajectory` action server. + 0.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.80sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.80sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event" + 0.98sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command" + 0.98sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 0.98sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state" + 0.98sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command" + 0.98sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event" + 0.98sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command"[0m + 0.98sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event"[0m + 0.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10294] + 0.99sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" + 0.99sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.99sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 0.99sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 0.99sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 1.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 1.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 1.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 1.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 1.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 1.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10283] + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10291] + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10279] + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10285] + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10287] + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10281] + 1.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.18sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.18sWARNobjective_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/. + 1.21sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.21sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.21sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.22sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.29sINFOmove_group ×2 + 1.29sINFOmove_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 + 1.65sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 1.65sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780584599.65131855 seconds. ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780584599.66147208 seconds ×2 + 2.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 2.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.71sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.71sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 4.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 5.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 5.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 6.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 6.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 7.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 seconds. ×2 + 7.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 7.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 7.89sINFOobjective_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 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 7.98sINFOobjective_server_nodePath shortcutter: [X_______X] + 8.00sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 8.00sINFOros2_control_node[2026-06-04 14:50:05.531] [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 joint_state_broadcaster-4process has finished cleanly [pid 10283] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10291] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10279] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10285] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10287] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10281] + 0.07sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.10sWARNobjective_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/. + 0.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.21sINFOmove_group ×2 + 0.21sINFOmove_group[92mYou can start planning now![0m + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780584599.65131855 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780584599.66147208 seconds ×2 + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_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. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 6.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 6.81sINFOobjective_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 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 6.90sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal | ||||
| ✓ 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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780584644.54156494 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780584645.12796044 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780584645.21008492 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780584645.85406065 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.18sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.19sINFOros2_control_node[2026-06-04 14:50:45.977] [info] Received new action goal + 3.19sINFOros2_control_node[2026-06-04 14:50:45.978] [info] Accepted new action goal + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Received new action goal + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [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: 1780584690.16936851 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780584690.71304584 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: 1780584690.80319476 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780584691.34718132 seconds. ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780584693.45732450 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780584694.02274966 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.97sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Accepted new action goal + 4.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.24sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 2 errors · 32 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.009 of wall time (208/95535). Below 1% is expected on a non-realtime system.[0m + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780584910.81150365 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 3.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 4.15sINFOobjective_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 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [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: 1780584910.81150365 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.5s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780584922.91882348 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780584923.48626137 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780584924.76638389 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780584925.31135082 seconds. ×2 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780584925.31284761 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780584925.85593295 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780584925.85644984 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780584926.51733208 seconds. ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780584928.61169028 seconds ×2 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.5s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780584922.91882348 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780584923.48626137 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780584924.76638389 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780584925.31135082 seconds. ×2 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780584925.31284761 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780584925.85593295 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780584925.85644984 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780584926.51733208 seconds. ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780584928.61169028 seconds ×2 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.1s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780584644.54156494 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780584645.12796044 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780584645.21008492 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780584645.85406065 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.18sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.19sINFOros2_control_node[2026-06-04 14:50:45.977] [info] Received new action goal + 3.19sINFOros2_control_node[2026-06-04 14:50:45.978] [info] Accepted new action goal + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Received new action goal + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Accepted new action goal | ||||
| − 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 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780584867.85797787 seconds ×2 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780584868.59886050 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X______X] + 1.98sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Accepted new action goal + 2.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.06sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 19 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780584756.96343350 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780584757.56712508 seconds. ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.75sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 0.75sINFOobjective_server_nodePath shortcutter: [X___X] + 0.76sINFOros2_control_node[2026-06-04 14:52:37.720] [info] Received new action goal + 0.76sINFOros2_control_node[2026-06-04 14:52:37.720] [info] Accepted new action goal + 0.95sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.95sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.03sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.08sINFOobjective_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 · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [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 (3.9e-07 s). + 0.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Received new action goal + 0.09sINFOros2_control_node[2026-06-04 14:50:15.127] [info] Accepted new action goal + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Got request to cancel active goal. + 0.77sINFOros2_control_node[2026-06-04 14:50:15.804] [info] Canceling active goal... + 0.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780584615.82857871 seconds ×2 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780584616.42795300 seconds. ×2 + 1.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780584616.56822515 seconds ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780584617.11859751 seconds. ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.31sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Received new action goal + 3.22sINFOros2_control_node[2026-06-04 14:50:18.251] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780584644.54156494 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780584645.12796044 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780584645.21008492 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780584645.85406065 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.18sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.19sINFOros2_control_node[2026-06-04 14:50:45.977] [info] Received new action goal + 3.19sINFOros2_control_node[2026-06-04 14:50:45.978] [info] Accepted new action goal + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Received new action goal + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780584644.54156494 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780584645.12796044 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780584645.21008492 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780584645.85406065 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.18sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.19sINFOros2_control_node[2026-06-04 14:50:45.977] [info] Received new action goal + 3.19sINFOros2_control_node[2026-06-04 14:50:45.978] [info] Accepted new action goal + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Received new action goal + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Accepted new action goal | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 34 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-04 14:50:43.154] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780584644.54156494 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780584645.12796044 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780584645.21008492 seconds ×2 + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.77sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780584645.85406065 seconds. ×2 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.18sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.19sINFOros2_control_node[2026-06-04 14:50:45.977] [info] Received new action goal + 3.19sINFOros2_control_node[2026-06-04 14:50:45.978] [info] Accepted new action goal + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.27sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Received new action goal + 6.54sINFOros2_control_node[2026-06-04 14:50:49.320] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 14:50:54.024] [info] Accepted new action goal + 2.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Received new action goal + 2.47sINFOros2_control_node[2026-06-04 14:50:56.365] [info] Accepted new action goal + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Got request to cancel active goal. + 2.51sINFOros2_control_node[2026-06-04 14:50:56.407] [info] Canceling active goal... + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780584656.42207479 seconds ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780584657.01841426 seconds. ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 3.21sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 3.21sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [info] Received new action goal + 4.25sINFOros2_control_node[2026-06-04 14:50:58.141] [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 (4.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.06sINFOobjective_server_nodeFound path in 1 iterations (0.00203375 s). + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.16sINFOros2_control_node[2026-06-04 14:51:17.125] [info] Received new action goal + 0.16sINFOros2_control_node[2026-06-04 14:51:17.125] [info] Accepted new action goal + 0.61sINFOros2_control_node[2026-06-04 14:51:17.566] [info] Received new action goal + 0.61sINFOros2_control_node[2026-06-04 14:51:17.566] [info] Accepted new action goal + 1.46sINFOros2_control_node[2026-06-04 14:51:18.419] [info] Got request to cancel active goal. + 1.46sINFOros2_control_node[2026-06-04 14:51:18.419] [info] Canceling active goal... + 1.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780584678.43740678 seconds ×2 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.48sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780584679.08694053 seconds. ×2 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.28sINFOros2_control_node[2026-06-04 14:51:19.243] [info] Received new action goal + 2.28sINFOros2_control_node[2026-06-04 14:51:19.243] [info] Accepted new action goal + 2.35sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.35sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.35sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.35sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.66sINFOros2_control_node[2026-06-04 14:51:21.616] [info] Received new action goal + 4.66sINFOros2_control_node[2026-06-04 14:51:21.616] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780584690.16936851 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780584690.71304584 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: 1780584690.80319476 seconds ×2 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780584691.34718132 seconds. ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.27sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 1.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.28sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Received new action goal + 1.28sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Accepted new action goal + 3.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780584693.45732450 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780584694.02274966 seconds. ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.97sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Received new action goal + 3.97sINFOros2_control_node[2026-06-04 14:51:34.136] [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: 1780584690.71304584 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780584690.80319476 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780584691.34718132 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780584693.45732450 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780584694.02274966 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.42sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Accepted new action goal + 3.69sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.69sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 31 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780584690.71304584 seconds. ×2 + 0.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780584690.80319476 seconds ×2 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780584691.34718132 seconds. ×2 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Received new action goal + 0.74sINFOros2_control_node[2026-06-04 14:51:31.450] [info] Accepted new action goal + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780584693.45732450 seconds ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780584694.02274966 seconds. ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 3.42sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Received new action goal + 3.42sINFOros2_control_node[2026-06-04 14:51:34.136] [info] Accepted new action goal + 3.69sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.69sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780584700.88011551 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [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;93m2026-06-04 14:51:42.920298415 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.64sINFOobjective_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 + 3.65sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [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: 1780584700.88011551 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [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;93m2026-06-04 14:51:42.920298415 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.64sINFOobjective_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 + 3.65sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [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: 1780584700.88011551 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [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;93m2026-06-04 14:51:42.920298415 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.64sINFOobjective_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 + 3.65sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [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: 1780584700.88011551 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [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;93m2026-06-04 14:51:42.920298415 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.64sINFOobjective_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 + 3.65sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [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: 1780584700.88011551 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 0.07sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 0.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780584701.55079198 seconds. ×2 + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 1.08sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028158154 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 14:51:42.028189655 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546315391 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.67sINFOobjective_server_node[0;93m2026-06-04 14:51:42.546349302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.76sINFOobjective_server_node[0;93m2026-06-04 14:51:42.642668499 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645949422 [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 + 1.77sINFOobjective_server_node[0;93m2026-06-04 14:51:42.645984013 [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;93m2026-06-04 14:51:42.920298415 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942359981 [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 + 2.06sINFOobjective_server_node[0;93m2026-06-04 14:51:42.942396222 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780584703.82440591 seconds ×2 + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 3.09sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780584704.43675232 seconds. ×2 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.64sINFOobjective_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 + 3.65sINFOobjective_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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-04 14:51:44.713] [info] Accepted new action goal + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 4.10sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Received new action goal + 6.67sINFOros2_control_node[2026-06-04 14:51:47.550] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 6 errors · 996 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×216 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×213 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×216 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×213 + 0.09sINFOjoint_trajectory_controllerGoal reached, success! ×62 + 0.09sINFOros2_control_nodeGoal reached, success![0m ×62 + 3.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780584819.58096218 seconds ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.635244) + 3.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.635244)[0m + 3.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.655244) + 3.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.655244)[0m + 3.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.665244) + 3.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780584801.555244) that ends in the past (1780584819.665244)[0m + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780584820.17003059 seconds. ×2 + 3.65sINFOobjective_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 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.74sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.75sINFOros2_control_node[2026-06-04 14:53:40.303] [info] Received new action goal + 3.75sINFOros2_control_node[2026-06-04 14:53:40.303] [info] Accepted new action goal + 3.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 3.92sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_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 + 0.04sINFOobjective_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 + 0.84sERRORobjective_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 + 0.84sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780584837.20219064 seconds ×2 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.44sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780584837.80778027 seconds. ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.74sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 2.52sINFOobjective_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 + 2.60sINFOobjective_server_nodeFound path in 7 iterations (0.00475825 s). + 2.65sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] + 2.66sINFOros2_control_node[2026-06-04 14:53:59.023] [info] Received new action goal + 2.66sINFOros2_control_node[2026-06-04 14:53:59.025] [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 + 1.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780584867.85797787 seconds ×2 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780584868.59886050 seconds. ×2 + 1.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). + 1.98sINFOobjective_server_nodePath shortcutter: [X______X] + 1.98sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Received new action goal + 1.98sINFOros2_control_node[2026-06-04 14:54:28.782] [info] Accepted new action goal + 2.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.06sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.06sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.06sINFOfoxglove_bridgeRemoving channel 70 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.06sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-04 14:54:37.546] [info] Accepted new action goal + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Got request to cancel active goal. + 1.27sINFOros2_control_node[2026-06-04 14:54:38.819] [info] Canceling active goal... + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780584878.82745433 seconds ×2 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.88sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780584879.43836975 seconds. ×2 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.03sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.03sINFOobjective_server_nodePath shortcutter: [X________X] + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Received new action goal + 2.04sINFOros2_control_node[2026-06-04 14:54:39.581] [info] Accepted new action goal + 2.38sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.39sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 12 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780584889.81862831 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780584890.36354399 seconds. ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.68sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.68sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.75sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 0.76sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.78sINFOros2_control_node[2026-06-04 14:54:50.594] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-04 14:54:50.594] [info] Accepted new action goal | ||||
| − 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: 1780584900.20291424 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780584900.76134157 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 (2.9e-07 s). + 0.66sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 14:55:00.879] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 14:55:00.879] [info] Accepted new action goal + 0.86sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 0.86sINFOfoxglove_bridgeAdvertising new channel 76 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 · 32 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.009 of wall time (208/95535). Below 1% is expected on a non-realtime system.[0m + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780584910.81150365 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 3.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 4.15sINFOobjective_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 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.009 of wall time (208/95535). Below 1% is expected on a non-realtime system.[0m + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780584910.81150365 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 3.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 4.15sINFOobjective_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 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.009 of wall time (208/95535). Below 1% is expected on a non-realtime system.[0m + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780584910.81150365 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 3.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 4.15sINFOobjective_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 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 5:10.009 of wall time (208/95535). Below 1% is expected on a non-realtime system.[0m + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780584910.81150365 seconds ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 3.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.79sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 4.15sINFOobjective_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 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-04 14:55:12.712] [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: 1780584910.81150365 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [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: 1780584910.81150365 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780584911.36576962 seconds. ×2 + 0.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780584911.43588829 seconds ×2 + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.83sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780584911.98213315 seconds. ×2 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780584912.00416636 seconds ×2 + 1.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780584912.61422372 seconds. ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [info] Received new action goal + 1.90sINFOros2_control_node[2026-06-04 14:55:12.712] [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[2026-06-04 14:55:22.914] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780584922.91882348 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780584923.48626137 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780584924.76638389 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780584925.31135082 seconds. ×2 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780584925.31284761 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780584925.85593295 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780584925.85644984 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780584926.51733208 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[2026-06-04 14:55:22.914] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 14:55:22.914] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780584922.91882348 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780584923.48626137 seconds. ×2 + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.82sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 1.83sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures" + 1.84sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/pcd_pointcloud_captures"[0m + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780584924.76638389 seconds ×2 + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.34sINFOfoxglove_bridgeRemoving channel 78 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780584925.31135082 seconds. ×2 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780584925.31284761 seconds ×2 + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg" + 2.85sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.85sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/secret_msg"[0m + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780584925.85593295 seconds. ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780584925.85644984 seconds ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String) + 3.35sINFOfoxglove_bridgeRemoving channel 79 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780584926.51733208 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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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 · 336 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-14-49-53-976986-f848b4b6a920-10247 + 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. + 1.18sINFOros2_control_node-1process started with pid [10277] + 1.18sINFOmove_group-9process started with pid [10297] + 1.19sINFOparameter_manager_node-10process started with pid [10300] + 1.19sINFOwaypoint_manager_node-11process started with pid [10338] + 1.19sINFOmove_joint_resampler_node-12process started with pid [10340] + 1.19sINFOmove_end_effector_resampler_node-13process started with pid [10342] + 1.19sINFOobjective_server_node_main-14process started with pid [10344] + 1.19sINFOcomponent_container_mt-15process started with pid [10346] + 1.19sINFOexecute_objective_bridge-16process started with pid [10348] + 1.19sINFOui_teleop_bridge-17process started with pid [10350] + 1.19sINFOfoxglove_bridge-18process started with pid [10352] + 1.19sINFOtf2_web_republisher_node-19process started with pid [10354] + 1.19sINFOweb_video_server-20process started with pid [10356] + 1.19sINFOparameter_manager_nodeStarted parameter manager node. + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10279] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10281] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10283] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10285] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10287] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10291] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10294] + 1.20sWARNros2_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 + 1.20sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.39sINFOfoxglove_bridgeServer listening on port 3201 + 1.39sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf" + 1.43sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout" + 1.43sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.44sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 1.44sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m + 1.44sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.44sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static" + 1.45sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.45sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.45sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 1.45sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m + 1.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.92sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic" + 1.92sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic"[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world" + 1.97sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene" + 2.00sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/monitored_planning_scene" + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/robot_description" + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/monitored_planning_scene"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/robot_description"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states" + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/moveit_pro_ui/store_joint_state" + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.01sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.01sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.01sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.09sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.09sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.19sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.26sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.03sINFOobjective_server_node[2026-06-04 14:49:57.529] [moveit_pro_license] [info] + 3.03sINFOobjective_server_node************************************************* ×2 + 3.03sINFOobjective_server_node* MoveIt Pro License + 3.03sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.29sINFOobjective_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. + 3.29sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.30sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.30sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.32sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.32sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.32sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.32sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.32sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.32sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.33sINFOcontroller_managerupdate rate is 600 Hz + 3.33sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.33sWARNcontroller_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. + 3.33sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.33sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.33sWARNros2_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 + 3.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.37sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.37sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 3.37sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 3.38sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 3.38sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 3.38sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.38sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.38sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 3.38sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 3.38sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 3.38sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 3.38sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 3.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.48sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.48sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.49sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.49sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.49sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.52sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.52sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.52sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.52sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.52sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.59sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.59sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.59sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.61sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.61sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.61sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.63sINFOobjective_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. + 3.63sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.68sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.68sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.68sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 3.73sINFOros2_control_node[2026-06-04 14:49:58.233] [info] Controller state will be published at 20 Hz. + 3.73sINFOros2_control_node[2026-06-04 14:49:58.234] [info] JointVelocityController 'on_configure' succeeded. + 3.73sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 3.73sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 3.74sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 3.74sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.74sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 3.74sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 3.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 3.74sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 3.74sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 3.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.74sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 3.75sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 3.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.75sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 3.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 3.75sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 3.75sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 3.78sINFOros2_control_node[2026-06-04 14:49:58.277] [info] Controller state will be published at 10 Hz. + 3.78sINFOros2_control_node[2026-06-04 14:49:58.278] [info] VelocityForceController 'on_configure' succeeded. + 3.78sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 3.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.78sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.78sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 3.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 3.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 3.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 3.78sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 3.78sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 3.78sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 3.78sINFOros2_control_node[2026-06-04 14:49:58.282] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.78sINFOros2_control_node[2026-06-04 14:49:58.282] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 3.81sINFOros2_control_node[2026-06-04 14:49:58.310] [info] First order lag filter time constant set to: 0.2 seconds + 3.81sINFOros2_control_node[2026-06-04 14:49:58.310] [info] Controller state will be published at 50 Hz. + 3.81sINFOros2_control_node[2026-06-04 14:49:58.315] [info] Registered `FollowJointTrajectory` action server. + 3.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.82sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.83sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.00sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/velocity_force_controller/transition_event"[0m + 4.01sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command" + 4.01sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/velocity_force_controller/command"[0m + 4.01sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 4.01sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 4.01sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state" + 4.01sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command" + 4.01sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/joint_velocity_controller/controller_state"[0m + 4.01sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_velocity_controller/command"[0m + 4.01sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/joint_trajectory_controller/transition_event"[0m + 4.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10294] + 4.02sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state" + 4.02sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_trajectory_controller/controller_state"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.02sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.02sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event" + 4.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event" + 4.02sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_state_broadcaster/transition_event"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench" + 4.02sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 4.02sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 4.02sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 4.02sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 4.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 4.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m + 4.03sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/transition_event"[0m + 4.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state" + 4.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 4.03sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/velocity_force_controller/controller_state"[0m + 4.03sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10283] + 4.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10291] + 4.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10279] + 4.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10285] + 4.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10287] + 4.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10281] + 4.18sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.21sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.21sWARNobjective_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/. + 4.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.24sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.24sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.24sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.24sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 4.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 4.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 4.32sINFOmove_group ×2 + 4.32sINFOmove_group[92mYou can start planning now![0m + 4.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 4.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 4.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 4.67sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 4.67sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 5.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780584599.65131855 seconds. ×2 + 5.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780584599.66147208 seconds ×2 + 5.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 5.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 5.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 5.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 7.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 8.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 8.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 8.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 4.11sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.22sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 6.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.74sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.74sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 53 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.04sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.04sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 2.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 seconds. ×2 + 4.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 5.22sINFOobjective_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 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 5.31sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal | ||||
| − skipped | — | addtovector.xml | 0.0s | 7 warnings · 199 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-14-49-53-976986-f848b4b6a920-10247 + 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. + 1.18sINFOros2_control_node-1process started with pid [10277] + 1.18sINFOmove_group-9process started with pid [10297] + 1.19sINFOparameter_manager_node-10process started with pid [10300] + 1.19sINFOwaypoint_manager_node-11process started with pid [10338] + 1.19sINFOmove_joint_resampler_node-12process started with pid [10340] + 1.19sINFOmove_end_effector_resampler_node-13process started with pid [10342] + 1.19sINFOobjective_server_node_main-14process started with pid [10344] + 1.19sINFOcomponent_container_mt-15process started with pid [10346] + 1.19sINFOexecute_objective_bridge-16process started with pid [10348] + 1.19sINFOui_teleop_bridge-17process started with pid [10350] + 1.19sINFOfoxglove_bridge-18process started with pid [10352] + 1.19sINFOtf2_web_republisher_node-19process started with pid [10354] + 1.19sINFOweb_video_server-20process started with pid [10356] + 1.19sINFOparameter_manager_nodeStarted parameter manager node. + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10279] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10281] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10283] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10285] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10287] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10291] + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10294] + 1.20sWARNros2_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 + 1.20sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.39sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.39sINFOfoxglove_bridgeServer listening on port 3201 + 1.39sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.42sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf" + 1.43sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout" + 1.43sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" + 1.43sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.44sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 1.44sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m + 1.44sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.44sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static" + 1.45sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.45sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static"[0m + 1.45sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.45sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 1.45sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector" + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 1.46sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/agent_interface/move_end_effector"[0m + 1.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.92sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic" + 1.92sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic"[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world" + 1.97sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/planning_scene_world"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene" + 2.00sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/planning_scene"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/monitored_planning_scene" + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/robot_description" + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/monitored_planning_scene"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/robot_description"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states" + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/joint_states"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/moveit_pro_ui/store_joint_state" + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/moveit_pro_ui/store_joint_state"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 2.01sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 2.01sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 2.01sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.01sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 2.09sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. + 2.09sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.19sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.19sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.24sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.26sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.03sINFOobjective_server_node[2026-06-04 14:49:57.529] [moveit_pro_license] [info] + 3.03sINFOobjective_server_node************************************************* ×2 + 3.03sINFOobjective_server_node* MoveIt Pro License + 3.03sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.29sINFOobjective_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. + 3.29sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 3.30sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 3.30sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 3.30sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 3.32sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.32sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.32sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.32sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.32sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.32sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 3.33sINFOcontroller_managerupdate rate is 600 Hz + 3.33sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.33sWARNcontroller_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. + 3.33sINFOros2_control_nodeupdate rate is 600 Hz[0m + 3.33sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 3.33sWARNros2_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 + 3.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 3.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points" + 3.36sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/points"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info" + 3.37sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/wrist_camera/camera_info"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers" + 3.37sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/visual_markers"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics" + 3.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points" + 3.37sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/statistics"[0m + 3.37sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/points"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth" + 3.38sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color" + 3.38sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth" + 3.38sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/scene_camera/depth"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/scene_camera/color"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/depth"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector" + 3.38sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/failure_reason_collector"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 3.38sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents" + 3.38sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color" + 3.38sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/blackboard_contents"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/color"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status" + 3.38sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info" + 3.38sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/behavior_tree_status"[0m + 3.38sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/camera_info"[0m + 3.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.48sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.48sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 3.49sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.49sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 3.49sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.52sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 3.52sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 3.52sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.52sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 3.52sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 3.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.59sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.59sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 3.59sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.61sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.61sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 3.61sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.63sINFOobjective_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. + 3.63sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 3.68sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 3.68sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 3.68sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m | ||||
| − skipped | — | createvector.xml | 0.0s | 1 warning · 84 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10283] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10291] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10279] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10285] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10287] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10281] + 0.07sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.10sWARNobjective_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/. + 0.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.21sINFOmove_group ×2 + 0.21sINFOmove_group[92mYou can start planning now![0m + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780584599.65131855 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780584599.66147208 seconds ×2 + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_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. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 6.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 6.81sINFOobjective_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 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 6.90sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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 joint_state_broadcaster-4process has finished cleanly [pid 10283] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10291] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10279] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10285] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10287] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10281] + 0.07sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.10sWARNobjective_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/. + 0.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.21sINFOmove_group ×2 + 0.21sINFOmove_group[92mYou can start planning now![0m + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780584599.65131855 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780584599.66147208 seconds ×2 + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_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. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 6.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 6.81sINFOobjective_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 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 6.90sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [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 joint_state_broadcaster-4process has finished cleanly [pid 10283] + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10291] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10279] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10285] + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10287] + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10281] + 0.07sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 0.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 0.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 0.10sWARNobjective_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/. + 0.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 0.13sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 0.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 0.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 0.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.21sINFOmove_group ×2 + 0.21sINFOmove_group[92mYou can start planning now![0m + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/trajectory_execution_event"[0m + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780584599.65131855 seconds. ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780584599.66147208 seconds ×2 + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.11sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.63sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 4.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 seconds. ×2 + 6.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.21sINFOros2_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. + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 6.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 6.81sINFOobjective_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 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 6.90sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 51 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780584600.20042157 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.04sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.04sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 seconds. ×2 + 2.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780584602.89193296 seconds ×2 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 seconds. ×2 + 4.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 5.22sINFOobjective_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 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 5.31sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.33sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 5.33sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780584601.31055641 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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 4.11sINFOobjective_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.22sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-04 14:50:05.531] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [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: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780584601.88178182 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: 1780584602.89193296 seconds ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780584603.43702364 seconds. ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780584603.45714283 seconds ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780584604.01994061 seconds. ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780584604.17165732 seconds ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780584604.80368686 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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780584604.85380769 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780584605.41158319 seconds. ×2 + 3.54sINFOobjective_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 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.7721e-05 s). + 3.63sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-04 14:50:05.531] [info] Accepted new action goal + 5.96sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.00% of iterations over budget over 0:10.001 of wall time (0/3151). Below 1% is expected on a non-realtime system.[0m + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Received new action goal + 6.16sINFOros2_control_node[2026-06-04 14:50:08.045] [info] Accepted new action goal | ||||