118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.8s
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 | 41.9s | 123 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 0.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.29sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [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 + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780601999.74722862 seconds. ×2 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.23sINFOobjective_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 + 3.24sINFOobjective_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 + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.53sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 3.53sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Received new action goal + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Accepted new action goal + 6.41sINFOobjective_server_nodeFound path in 0 iterations (9e-07 s). + 6.42sINFOros2_control_node[2026-06-04 19:40:03.012] [info] Received new action goal + 6.42sINFOros2_control_node[2026-06-04 19:40:03.012] [info] Accepted new action goal + 9.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 9.63sINFOros2_control_node[2026-06-04 19:40:06.220] [info] Received new action goal + 9.63sINFOros2_control_node[2026-06-04 19:40:06.220] [info] Accepted new action goal + 12.60sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 12.60sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.63sINFOros2_control_node[2026-06-04 19:40:09.225] [info] Received new action goal + 12.63sINFOros2_control_node[2026-06-04 19:40:09.225] [info] Accepted new action goal + 15.58sINFOobjective_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 + 16.55sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 2:10.003 of wall time (222/39862). Below 1% is expected on a non-realtime system.[0m + 22.34sINFOobjective_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 + 23.35sINFOros2_control_node[2026-06-04 19:40:19.944] [info] Received new action goal + 23.35sINFOros2_control_node[2026-06-04 19:40:19.944] [info] Accepted new action goal + 24.52sINFOobjective_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 + 24.53sINFOobjective_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 + 24.82sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 24.82sINFOobjective_server_nodePath shortcutter: [X___________X] + 24.85sINFOros2_control_node[2026-06-04 19:40:21.444] [info] Received new action goal + 24.85sINFOros2_control_node[2026-06-04 19:40:21.444] [info] Accepted new action goal + 26.97sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). + 26.97sINFOobjective_server_nodePath shortcutter: [X__________X] + 26.99sINFOros2_control_node[2026-06-04 19:40:23.582] [info] Received new action goal + 26.99sINFOros2_control_node[2026-06-04 19:40:23.582] [info] Accepted new action goal + 30.02sINFOros2_control_node[2026-06-04 19:40:26.613] [info] Received new action goal + 30.02sINFOros2_control_node[2026-06-04 19:40:26.613] [info] Accepted new action goal + 32.50sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 32.50sINFOobjective_server_nodePath shortcutter: [X________________X] + 32.54sINFOros2_control_node[2026-06-04 19:40:29.135] [info] Received new action goal + 32.54sINFOros2_control_node[2026-06-04 19:40:29.135] [info] Accepted new action goal + 43.28sINFOros2_control_node[2026-06-04 19:40:39.872] [info] Received new action goal + 43.28sINFOros2_control_node[2026-06-04 19:40:39.872] [info] Accepted new action goal + 44.43sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780602041.02794623 seconds ×2 + 45.16sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780602041.75953078 seconds. ×2 + 45.28sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 45.28sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 46.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 46.46sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 46.47sINFOros2_control_node[2026-06-04 19:40:43.064] [info] Received new action goal + 46.47sINFOros2_control_node[2026-06-04 19:40:43.064] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 38.6s | 2 errors · 9005 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780602052.73986197 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602053.36098647 seconds. ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.74sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X___X] + 0.80sINFOros2_control_node[2026-06-04 19:40:53.534] [info] Received new action goal + 0.80sINFOros2_control_node[2026-06-04 19:40:53.534] [info] Accepted new action goal + 2.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.09sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.16sINFOobjective_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 + 3.34sERRORobjective_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 + 3.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×2237 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×2237 + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2237 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2237 + 10.52sINFOjoint_trajectory_controllerGoal reached, success! ×5 + 10.52sINFOros2_control_nodeGoal reached, success![0m ×5 + 20.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.74% of iterations over budget over 3:10.005 of wall time (427/58045). Below 1% is expected on a non-realtime system.[0m + 38.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602091.42397761 seconds ×2 + 39.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602092.03397608 seconds. ×2 + 39.35sINFOobjective_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 + 39.44sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 39.45sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 39.46sINFOros2_control_node[2026-06-04 19:41:32.199] [info] Received new action goal + 39.46sINFOros2_control_node[2026-06-04 19:41:32.199] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 36.6s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Accepted new action goal + 29.40sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures" + 29.40sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/pcd_pointcloud_captures"[0m + 29.91sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 29.91sINFOfoxglove_bridgeRemoving channel 58 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 31.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 31.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 31.72sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 31.93sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution" + 31.93sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/solution"[0m + 32.02sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 32.02sINFOobjective_server_nodePath shortcutter: [X___________X] + 32.03sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 32.05sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 32.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 32.10sINFOobjective_server_nodeFound path in 1 iterations (0.00261006 s). + 32.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 32.24sINFOros2_control_node[2026-06-04 19:38:53.073] [info] Received new action goal + 32.24sINFOros2_control_node[2026-06-04 19:38:53.073] [info] Accepted new action goal + 34.78sINFOros2_control_node[2026-06-04 19:38:55.610] [info] Received new action goal + 34.78sINFOros2_control_node[2026-06-04 19:38:55.610] [info] Accepted new action goal + 36.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 36.54sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Received new action goal + 36.54sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Accepted new action goal + 37.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780601938.75405049 seconds ×2 + 38.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780601939.35075331 seconds. ×2 + 38.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780601939.43089604 seconds ×2 + 39.01sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 39.01sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 39.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780601940.12095213 seconds. ×2 + 39.41sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 39.41sINFOobjective_server_nodePath shortcutter: [X_____________X] + 39.42sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Received new action goal + 39.42sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Accepted new action goal + 39.51sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 39.51sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 35.1s | 58 errors · 1060 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×196 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×167 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×196 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×167 + 0.03sINFOjoint_trajectory_controllerGoal reached, success! ×117 + 0.03sINFOros2_control_nodeGoal reached, success![0m ×117 + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.366557) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.366557)[0m + 0.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.496557) + 0.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.496557)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.506557) + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.506557)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.546557) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.546557)[0m + 0.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.846557) + 0.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.846557)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.876557) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.876557)[0m + 1.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.056556) + 1.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.056556)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.076556) ×2 + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.076556)[0m ×2 + 1.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.096556) ×2 + 1.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.096556)[0m ×2 + 1.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.136557) + 1.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.136557)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.986557) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.986557)[0m + 2.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.006557) + 2.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.006557)[0m + 2.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.016557) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.016557)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.026557) + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.036556) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.026557)[0m + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.036556)[0m + 2.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.106557) + 2.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.106557)[0m + 2.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.126557) + 2.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.126557)[0m + 2.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.166557) + 2.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.166557)[0m + 2.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.696557) ×2 + 2.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.696557)[0m ×2 + 2.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.706557) + 2.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.706557)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.716557) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.716557)[0m + 2.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.756557) + 2.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.756557)[0m + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780602150.08101130 seconds ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.116557) + 3.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.126557) + 3.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.116557)[0m + 3.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.126557)[0m + 3.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.166557) + 3.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.176557) + 3.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.166557)[0m + 3.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.176557)[0m + 3.87sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780602150.73828673 seconds. ×2 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.17sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.17sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.95sINFOobjective_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 + 5.05sINFOobjective_server_nodeFound path in 6 iterations (0.00525299 s). + 5.10sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.12sINFOros2_control_node[2026-06-04 19:42:31.985] [info] Received new action goal + 5.12sINFOros2_control_node[2026-06-04 19:42:31.985] [info] Accepted new action goal + 17.07sINFOobjective_server_node[0;93m2026-06-04 19:42:43.940965874 [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 + 17.07sINFOobjective_server_node[0;93m2026-06-04 19:42:43.941016606 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 17.56sINFOobjective_server_node[0;93m2026-06-04 19:42:44.431182780 [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 + 17.56sINFOobjective_server_node[0;93m2026-06-04 19:42:44.431224182 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 17.70sINFOobjective_server_node[0;93m2026-06-04 19:42:44.565263627 [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 + 17.70sINFOobjective_server_node[0;93m2026-06-04 19:42:44.568626272 [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 + 17.70sINFOobjective_server_node[0;93m2026-06-04 19:42:44.568660703 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 18.06sINFOobjective_server_node[0;93m2026-06-04 19:42:44.927608987 [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 + 18.08sINFOobjective_server_node[0;93m2026-06-04 19:42:44.948256624 [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 + 18.08sINFOobjective_server_node[0;93m2026-06-04 19:42:44.948299656 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 19.10sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 19.29sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization" + 19.29sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/masks_visualization"[0m + 23.61sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 23.84sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 23.84sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m + 23.95sINFOobjective_server_nodeFound path in 4 iterations (0.00373227 s). + 24.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 24.08sINFOobjective_server_nodeFound path in 12 iterations (0.00580433 s). + 24.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 24.18sINFOobjective_server_nodeFound path in 1 iterations (0.00349718 s). + 24.23sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 24.25sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 24.28sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 24.30sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 24.33sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 24.36sINFOobjective_server_nodeFound path in 12 iterations (0.00644161 s). + 24.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] + 24.44sINFOobjective_server_nodeFound path in 2 iterations (0.00514115 s). + 24.49sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] + 24.50sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 24.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 24.55sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 24.60sINFOobjective_server_nodePath shortcutter: [X____________________________X_______________________X] + 24.62sINFOobjective_server_nodeFound path in 4 iterations (0.00289521 s). + 24.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] + 24.73sINFOobjective_server_nodeFound path in 1 iterations (0.00490965 s). + 24.78sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 24.81sINFOobjective_server_nodeFound path in 1 iterations (0.00251874 s). + 24.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 24.91sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 24.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 24.96sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 25.03sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 25.06sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 25.13sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] + 25.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 25.18sINFOros2_control_node[2026-06-04 19:42:52.047] [info] Received new action goal + 25.18sINFOros2_control_node[2026-06-04 19:42:52.047] [info] Accepted new action goal + 30.18sINFOros2_control_node[2026-06-04 19:42:57.049] [info] Received new action goal + 30.18sINFOros2_control_node[2026-06-04 19:42:57.049] [info] Accepted new action goal + 31.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 31.77sINFOros2_control_node[2026-06-04 19:42:58.632] [info] Received new action goal + 31.77sINFOros2_control_node[2026-06-04 19:42:58.632] [info] Accepted new action goal + 32.97sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 33.02sINFOros2_control_node[2026-06-04 19:42:59.883] [info] Received new action goal + 33.02sINFOros2_control_node[2026-06-04 19:42:59.883] [info] Accepted new action goal + 38.27sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602185.13848829 seconds ×2 + 39.01sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 39.01sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 39.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602185.88631415 seconds. ×2 + 39.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 39.24sINFOobjective_server_nodePath shortcutter: [X______X] + 39.25sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Received new action goal + 39.25sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Accepted new action goal + 39.52sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 39.52sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 39.52sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 39.52sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 34.0s | 454 errors · 6732 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1366 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×836 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1139 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×1366 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×836 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×1139 + 0.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.957869) + 0.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.957869)[0m + 0.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.977869) + 0.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.977869)[0m + 0.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.987870) ×2 + 0.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.987870)[0m ×2 + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.007869) + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.017869) + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.007869)[0m + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.017869)[0m + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.237869) + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.237869)[0m + 0.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.327869) ×2 + 0.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.327869)[0m ×2 + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.407869) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.407869)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.427870) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.427870)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.467870) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.467870)[0m + 0.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.537869) + 0.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.537869)[0m + 0.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.607869) + 0.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.607869)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.627869) + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.627869)[0m + 0.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.667869) + 0.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.667869)[0m + 0.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.737869) ×2 + 0.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.737869)[0m ×2 + 0.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.757869) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.757869)[0m + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.797869) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.797869)[0m + 1.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.917869) + 1.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.917869)[0m + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.937869) + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.937869)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.037869) + 1.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.037869)[0m + 1.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.087869) ×2 + 1.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.087869)[0m ×2 + 1.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.107869) + 1.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.107869)[0m + 1.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.137869) + 1.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.137869)[0m + 1.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.227870) + 1.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.227870)[0m + 1.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.247869) + 1.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.247869)[0m + 1.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.277869) + 1.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.277869)[0m + 1.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.427870) ×2 + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.427870)[0m ×2 + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.447870) + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.447870)[0m + 1.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.457869) + 1.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.467870) + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.457869)[0m + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.467870)[0m + 1.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.477869) + 1.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.477869)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.717869) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.717869)[0m + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.807869) + 1.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.807869)[0m + 1.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.817869) + 1.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.817869)[0m + 1.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.867869) + 1.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.867869)[0m + 1.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.877869) + 1.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.887869) + 1.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.877869)[0m + 1.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.887869)[0m + 2.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.937869) + 2.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.937869)[0m + 2.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.987870) + 2.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.987870)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.007869) + 2.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.007869)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.077869) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.077869)[0m + 2.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.107869) + 2.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.107869)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.117869) + 2.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.117869)[0m + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.137869) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.137869)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.207870) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.207870)[0m + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.227870) + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.237869) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.227870)[0m + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.237869)[0m + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.277869) + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.287869) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.277869)[0m + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.287869)[0m + 2.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.427870) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.427870)[0m + 2.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.567869) + 2.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.567869)[0m + 2.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.607869) + 2.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.607869)[0m + 2.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.627869) + 2.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.627869)[0m + 2.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.707870) + 2.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.707870)[0m + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.727870) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.727870)[0m + 2.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.747869) + 2.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.747869)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.777869) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.777869)[0m + 2.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.797869) + 2.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.797869)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.917869) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.917869)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.927870) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.927870)[0m + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.947870) + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.957869) ×2 + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.947870)[0m + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.957869)[0m ×2 + 3.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.977869) + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.977869)[0m + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602116.12691832 seconds ×2 + 3.21sINFOobjective_server_node[0;mLogger has an invalid severity level: �'��� + 3.21sINFOobjective_server_nodeError getting effective level of logger 'objective_server_node.rclcpp_action' + 3.21sINFOobjective_server_nodeError determining if logger 'objective_server_node.rclcpp_action' is enabled for severity '10' + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.137869) + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.137869)[0m + 3.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.167869) + 3.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.167869)[0m + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.197869) + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.197869)[0m + 3.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.207870) + 3.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.207870)[0m + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780602116.73470998 seconds. ×2 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.99sINFOros2_control_node[2026-06-04 19:41:56.909] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-04 19:41:56.909] [info] Accepted new action goal + 4.27sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 4.27sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m + 9.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 9.57sINFOros2_control_node[2026-06-04 19:42:02.488] [info] Received new action goal + 9.57sINFOros2_control_node[2026-06-04 19:42:02.488] [info] Accepted new action goal + 11.98sINFOros2_control_node[2026-06-04 19:42:04.903] [info] Received new action goal + 11.98sINFOros2_control_node[2026-06-04 19:42:04.903] [info] Accepted new action goal + 16.86sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 16.87sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m + 17.11sINFOobjective_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 + 17.17sINFOobjective_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 + 17.37sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.37sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 20.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 4:10.008 of wall time (589/76156). Below 1% is expected on a non-realtime system.[0m + 20.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.436557) ×2 + 20.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.436557)[0m ×2 + 20.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.506557) + 20.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.506557)[0m + 20.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.516557) + 20.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.516557)[0m + 20.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.766557) + 20.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.766557)[0m + 20.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.886557) + 20.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.886557)[0m + 21.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.926557) + 21.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602133.926557)[0m + 21.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.076557) + 21.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.076557)[0m + 21.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.176557) + 21.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.176557)[0m + 21.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.196557) + 21.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.196557)[0m + 21.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.226557) + 21.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.236557) + 21.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.226557)[0m + 21.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.236557)[0m + 21.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.246557) + 21.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.256557) + 21.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.246557)[0m + 21.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.256557)[0m + 21.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.536556) + 21.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.536556)[0m + 21.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.636557) + 21.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.636557)[0m + 21.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.856557) + 21.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.856557)[0m + 21.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.876557) ×2 + 21.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.876557)[0m ×2 + 21.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.896557) + 21.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602134.896557)[0m + 22.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.676557) + 22.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.676557)[0m + 22.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.686557) + 22.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.686557)[0m + 22.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.696557) + 22.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.696557)[0m + 22.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.706557) + 22.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.706557)[0m + 23.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.976557) + 23.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.986557) + 23.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.976557)[0m + 23.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602135.986557)[0m + 23.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.076556) + 23.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.076556)[0m + 23.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.286557) + 23.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.296556) + 23.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.306557) ×2 + 23.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.286557)[0m + 23.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.296556)[0m + 23.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.306557)[0m ×2 + 23.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.326557) + 23.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602136.326557)[0m + 24.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.066557) ×2 + 24.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.066557)[0m ×2 + 24.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.116557) ×2 + 24.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.116557)[0m ×2 + 24.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.136557) + 24.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.136557)[0m + 24.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.516557) + 24.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.516557)[0m + 24.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.746557) + 24.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.746557)[0m + 24.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.756557) + 24.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.766557) ×2 + 24.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.756557)[0m + 24.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.766557)[0m ×2 + 24.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.786557) + 24.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602137.786557)[0m + 25.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.416557) + 25.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.416557)[0m + 25.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.506557) + 25.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.506557)[0m + 25.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.536556) + 25.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.536556)[0m + 25.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.556556) ×2 + 25.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.556556)[0m ×2 + 25.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.566557) + 25.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.576556) + 25.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.566557)[0m + 25.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.576556)[0m + 26.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.966557) + 26.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.966557)[0m + 26.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.976557) + 26.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602138.976557)[0m + 26.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.156557) + 26.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.156557)[0m + 26.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.176557) ×2 + 26.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.186557) + 26.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.176557)[0m ×2 + 26.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.186557)[0m + 26.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.836556) + 26.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.836556)[0m + 26.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.846557) + 26.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.846557)[0m + 27.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.966557) + 27.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.966557)[0m + 27.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.986557) + 27.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.986557)[0m + 27.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.996557) + 27.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602139.996557)[0m + 27.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.006557) + 27.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.006557)[0m + 27.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.286557) + 27.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.286557)[0m + 27.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.386557) + 27.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.386557)[0m + 27.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.606557) + 27.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.606557)[0m + 27.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.616557) + 27.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.626557) + 27.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.616557)[0m + 27.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.626557)[0m + 27.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.636557) + 27.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602140.636557)[0m + 28.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.246557) + 28.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.246557)[0m + 28.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.276556) + 28.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.276556)[0m + 28.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.366557) + 28.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.376557) ×2 + 28.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.366557)[0m + 28.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.376557)[0m ×2 + 28.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.406557) + 28.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.416557) + 28.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.406557)[0m + 28.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.416557)[0m + 28.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.436557) ×2 + 28.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.436557)[0m ×2 + 28.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.666557) + 28.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.666557)[0m + 28.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.686557) + 28.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.686557)[0m + 28.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.716557) + 28.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.716557)[0m + 28.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.726557) + 28.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.726557)[0m + 28.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.876557) + 28.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.876557)[0m + 28.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.896557) + 28.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602141.896557)[0m + 29.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.066557) + 29.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.066557)[0m + 29.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.076556) ×2 + 29.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.086557) + 29.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.076556)[0m ×2 + 29.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.086557)[0m + 29.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.106557) + 29.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.106557)[0m + 29.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.156557) + 29.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.156557)[0m + 29.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.846557) + 29.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.856557) ×2 + 29.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.846557)[0m + 29.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.856557)[0m ×2 + 29.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.876557) + 29.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.876557)[0m + 29.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.896557) + 29.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.896557)[0m + 30.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.966557) + 30.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602142.966557)[0m + 30.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.346557) + 30.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.346557)[0m + 30.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.556556) + 30.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.566557) + 30.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.576556) ×2 + 30.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.556556)[0m + 30.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.566557)[0m + 30.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.576556)[0m ×2 + 30.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.616557) + 30.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602143.616557)[0m + 31.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.386557) ×2 + 31.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.396557) + 31.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.386557)[0m ×2 + 31.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.396557)[0m + 31.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.466557) + 31.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.466557)[0m + 31.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.526557) + 31.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.536556) + 31.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.526557)[0m + 31.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602144.536556)[0m + 32.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.046557) + 32.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.046557)[0m + 32.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.066557) + 32.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.076556) ×2 + 32.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.066557)[0m + 32.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.076556)[0m ×2 + 32.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.096556) + 32.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.096556)[0m + 32.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.846557) + 32.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.856557) + 32.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.846557)[0m + 32.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.856557)[0m + 32.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.876557) + 32.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.876557)[0m + 32.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.896557) ×2 + 32.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602145.896557)[0m ×2 + 33.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.336556) + 33.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.336556)[0m + 33.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.396557) + 33.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.396557)[0m + 33.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.556556) + 33.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.566557) + 33.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.556556)[0m + 33.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.566557)[0m + 33.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.576556) + 33.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.586557) + 33.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.576556)[0m + 33.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.586557)[0m + 33.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.616557) + 33.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.616557)[0m + 33.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.626557) + 33.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602146.626557)[0m + 34.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.366557) + 34.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.366557)[0m + 34.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.496557) + 34.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.496557)[0m + 34.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.506557) + 34.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.506557)[0m + 34.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.546557) + 34.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.546557)[0m + 34.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.846557) + 34.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.846557)[0m + 34.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.876557) + 34.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.876557)[0m + 35.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.056556) + 35.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.056556)[0m + 35.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.076556) ×2 + 35.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.076556)[0m ×2 + 35.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.096556) ×2 + 35.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.096556)[0m ×2 + 35.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.136557) + 35.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.136557)[0m + 36.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.986557) + 36.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.986557)[0m + 36.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.006557) + 36.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.006557)[0m + 36.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.016557) + 36.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.016557)[0m + 36.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.026557) + 36.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.036556) + 36.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.026557)[0m + 36.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.036556)[0m + 36.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.106557) + 36.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.106557)[0m + 36.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.126557) + 36.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.126557)[0m + 36.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.166557) + 36.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.166557)[0m + 36.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.696557) ×2 + 36.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.696557)[0m ×2 + 36.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.706557) + 36.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.706557)[0m + 36.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.716557) + 36.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.716557)[0m + 36.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.756557) + 36.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.756557)[0m + 37.16sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780602150.08101130 seconds ×2 + 37.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.116557) + 37.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.126557) + 37.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.116557)[0m + 37.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.126557)[0m + 37.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.166557) + 37.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.176557) + 37.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.166557)[0m + 37.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.176557)[0m + 37.82sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780602150.73828673 seconds. ×2 + 37.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 37.82sINFOros2_control_nodeReceived & accepted new action goal[0m + 38.12sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 38.12sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 39.00sINFOobjective_server_nodeFound path in 6 iterations (0.00525299 s). + 39.05sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 39.07sINFOros2_control_node[2026-06-04 19:42:31.985] [info] Received new action goal + 39.07sINFOros2_control_node[2026-06-04 19:42:31.985] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 24.7s | 412 errors · 7778 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1749 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1749 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1543 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×1543 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602091.42397761 seconds ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! ×580 + 3.72sINFOros2_control_nodeGoal reached, success![0m ×580 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602092.03397608 seconds. ×2 + 3.87sINFOobjective_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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 3.98sINFOros2_control_node[2026-06-04 19:41:32.199] [info] Received new action goal + 3.98sINFOros2_control_node[2026-06-04 19:41:32.199] [info] Accepted new action goal + 7.81sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.87sINFOobjective_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 + 7.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 15.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.017869) + 15.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.017869)[0m + 16.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.407869) + 16.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.407869)[0m + 16.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.477869) + 16.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.477869)[0m + 16.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.627869) + 16.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.627869)[0m + 16.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.767869) + 16.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.767869)[0m + 16.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.777869) + 16.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.777869)[0m + 16.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.827869) + 16.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602104.827869)[0m + 17.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.437869) ×2 + 17.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.437869)[0m ×2 + 17.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.467870) + 17.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.467870)[0m + 17.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.487870) + 17.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.487870)[0m + 17.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.897869) + 17.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.897869)[0m + 17.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.967870) + 17.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602105.967870)[0m + 17.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.087869) + 17.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.087869)[0m + 17.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.117869) + 17.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.117869)[0m + 17.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.147869) + 17.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.147869)[0m + 17.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.167869) + 17.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.167869)[0m + 18.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.237869) + 18.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.247869) + 18.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.237869)[0m + 18.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.247869)[0m + 18.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.267869) + 18.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.267869)[0m + 18.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.307869) + 18.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.307869)[0m + 18.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.547869) + 18.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.547869)[0m + 18.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.607869) ×2 + 18.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.607869)[0m ×2 + 18.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.757869) + 18.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.757869)[0m + 18.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.797869) + 18.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.797869)[0m + 18.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.817869) + 18.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.817869)[0m + 18.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.967870) + 18.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.967870)[0m + 18.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.997869) ×2 + 18.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602106.997869)[0m ×2 + 18.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.017869) + 18.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.017869)[0m + 18.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.207870) + 18.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.207870)[0m + 19.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.217869) + 19.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.227870) + 19.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.217869)[0m + 19.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.227870)[0m + 19.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.267869) + 19.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.267869)[0m + 19.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.347869) + 19.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.347869)[0m + 19.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.417869) + 19.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.417869)[0m + 19.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.447870) + 19.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.447870)[0m + 19.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.537869) + 19.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.537869)[0m + 19.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.557869) + 19.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.557869)[0m + 19.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.637869) ×2 + 19.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.637869)[0m ×2 + 19.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.677869) + 19.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.677869)[0m + 19.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.757869) + 19.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.757869)[0m + 19.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.777869) + 19.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.777869)[0m + 19.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.807869) + 19.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.807869)[0m + 19.73sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.947870) + 19.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602107.947870)[0m + 19.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.057869) + 19.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.057869)[0m + 19.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.117869) + 19.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.117869)[0m + 19.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.137869) + 19.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.137869)[0m + 19.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.157869) + 19.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.157869)[0m + 20.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.257869) + 20.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.257869)[0m + 20.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.287869) + 20.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.287869)[0m + 20.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.327869) ×2 + 20.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.327869)[0m ×2 + 20.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.477869) + 20.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.487870) ×2 + 20.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.477869)[0m + 20.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.487870)[0m ×2 + 20.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.507869) + 20.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.507869)[0m + 20.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.677869) + 20.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.677869)[0m + 20.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.717869) + 20.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.717869)[0m + 20.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.887869) + 20.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.887869)[0m + 20.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.907869) + 20.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.917869) + 20.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.907869)[0m + 20.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.917869)[0m + 20.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.977869) + 20.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602108.977869)[0m + 20.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.047869) + 20.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.047869)[0m + 20.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.107869) + 20.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.107869)[0m + 20.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.137869) + 20.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.137869)[0m + 20.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.167869) + 20.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.167869)[0m + 21.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.247869) + 21.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.247869)[0m + 21.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.267869) + 21.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.267869)[0m + 21.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.437869) + 21.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.437869)[0m + 21.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.587869) + 21.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.587869)[0m + 21.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.637869) + 21.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.637869)[0m + 21.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.667869) + 21.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.667869)[0m + 21.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.767869) + 21.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.767869)[0m + 21.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.817869) ×2 + 21.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.817869)[0m ×2 + 21.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.977869) ×2 + 21.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.977869)[0m ×2 + 21.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.987870) + 21.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602109.987870)[0m + 21.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.007869) + 21.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.007869)[0m + 22.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.237869) + 22.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.237869)[0m + 22.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.337869) + 22.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.337869)[0m + 22.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.407869) + 22.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.417869) + 22.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.407869)[0m + 22.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.417869)[0m + 22.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.517869) + 22.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.517869)[0m + 22.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.547869) + 22.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.547869)[0m + 22.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.607869) ×2 + 22.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.607869)[0m ×2 + 22.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.667869) + 22.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.667869)[0m + 22.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.737869) + 22.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.737869)[0m + 22.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.757869) ×2 + 22.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.757869)[0m ×2 + 22.57sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.787869) + 22.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.787869)[0m + 22.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.807869) + 22.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.807869)[0m + 22.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.917869) + 22.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.917869)[0m + 22.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.957869) + 22.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602110.957869)[0m + 22.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.117869) + 22.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.117869)[0m + 22.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.137869) + 22.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.137869)[0m + 22.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.157869) + 22.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.157869)[0m + 23.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.257869) + 23.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.257869)[0m + 23.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.277869) + 23.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.277869)[0m + 23.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.317869) + 23.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.317869)[0m + 23.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.467870) + 23.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.477869) + 23.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.487870) + 23.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.467870)[0m + 23.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.477869)[0m + 23.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.487870)[0m + 23.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.497869) + 23.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.497869)[0m + 23.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.507869) + 23.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.507869)[0m + 23.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.747869) + 23.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.747869)[0m + 23.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.837869) + 23.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.837869)[0m + 23.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.877869) + 23.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.877869)[0m + 23.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.907869) + 23.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.907869)[0m + 23.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.927870) ×2 + 23.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602111.927870)[0m ×2 + 23.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.107869) + 23.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.107869)[0m + 23.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.137869) + 23.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.137869)[0m + 23.93sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.147869) + 23.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.147869)[0m + 23.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.167869) + 23.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.167869)[0m + 24.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.247869) + 24.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.247869)[0m + 24.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.257869) + 24.05sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.267869) + 24.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.257869)[0m + 24.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.267869)[0m + 24.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.287869) + 24.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.287869)[0m + 24.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.317869) + 24.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.317869)[0m + 24.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.587869) + 24.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.587869)[0m + 24.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.597869) + 24.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.597869)[0m + 24.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.627869) + 24.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.627869)[0m + 24.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.657869) + 24.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.657869)[0m + 24.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.747869) + 24.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.747869)[0m + 24.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.767869) + 24.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.767869)[0m + 24.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.797869) + 24.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.797869)[0m + 24.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.827869) ×2 + 24.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.827869)[0m ×2 + 24.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.957869) + 24.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.957869)[0m + 24.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.977869) + 24.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.977869)[0m + 24.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.987870) ×2 + 24.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.987870)[0m ×2 + 24.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.007869) + 24.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.017869) + 24.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.007869)[0m + 24.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.017869)[0m + 25.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.237869) + 25.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.237869)[0m + 25.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.327869) ×2 + 25.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.327869)[0m ×2 + 25.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.407869) + 25.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.407869)[0m + 25.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.427870) + 25.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.427870)[0m + 25.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.467870) + 25.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.467870)[0m + 25.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.537869) + 25.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.537869)[0m + 25.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.607869) + 25.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.607869)[0m + 25.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.627869) + 25.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.627869)[0m + 25.45sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.667869) + 25.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.667869)[0m + 25.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.737869) ×2 + 25.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.737869)[0m ×2 + 25.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.757869) + 25.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.757869)[0m + 25.58sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.797869) + 25.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.797869)[0m + 25.70sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.917869) + 25.70sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.917869)[0m + 25.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.937869) + 25.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.937869)[0m + 25.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.037869) + 25.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.037869)[0m + 25.87sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.087869) ×2 + 25.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.087869)[0m ×2 + 25.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.107869) + 25.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.107869)[0m + 25.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.137869) + 25.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.137869)[0m + 26.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.227870) + 26.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.227870)[0m + 26.03sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.247869) + 26.03sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.247869)[0m + 26.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.277869) + 26.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.277869)[0m + 26.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.427870) ×2 + 26.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.427870)[0m ×2 + 26.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.447870) + 26.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.447870)[0m + 26.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.457869) + 26.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.467870) + 26.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.457869)[0m + 26.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.467870)[0m + 26.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.477869) + 26.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.477869)[0m + 26.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.717869) + 26.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.717869)[0m + 26.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.807869) + 26.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.807869)[0m + 26.60sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.817869) + 26.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.817869)[0m + 26.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.867869) + 26.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.867869)[0m + 26.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.877869) + 26.67sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.887869) + 26.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.877869)[0m + 26.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.887869)[0m + 26.72sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.937869) + 26.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.937869)[0m + 26.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.987870) + 26.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.987870)[0m + 26.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.007869) + 26.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.007869)[0m + 26.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.077869) + 26.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.077869)[0m + 26.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.107869) + 26.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.107869)[0m + 26.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.117869) + 26.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.117869)[0m + 26.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.137869) + 26.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.137869)[0m + 26.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.207870) + 26.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.207870)[0m + 27.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.227870) + 27.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.237869) + 27.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.227870)[0m + 27.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.237869)[0m + 27.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.277869) + 27.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.287869) + 27.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.277869)[0m + 27.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.287869)[0m + 27.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.427870) + 27.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.427870)[0m + 27.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.567869) + 27.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.567869)[0m + 27.39sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.607869) + 27.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.607869)[0m + 27.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.627869) + 27.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.627869)[0m + 27.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.707870) + 27.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.707870)[0m + 27.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.727870) + 27.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.727870)[0m + 27.53sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.747869) + 27.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.747869)[0m + 27.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.777869) + 27.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.777869)[0m + 27.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.797869) + 27.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.797869)[0m + 27.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.917869) + 27.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.917869)[0m + 27.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.927870) + 27.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.927870)[0m + 27.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.947870) + 27.74sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.957869) ×2 + 27.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.947870)[0m + 27.74sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.957869)[0m ×2 + 27.76sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.977869) + 27.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.977869)[0m + 27.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602116.12691832 seconds ×2 + 27.91sINFOobjective_server_node[0;mLogger has an invalid severity level: �'��� + 27.91sINFOobjective_server_nodeError getting effective level of logger 'objective_server_node.rclcpp_action' + 27.91sINFOobjective_server_nodeError determining if logger 'objective_server_node.rclcpp_action' is enabled for severity '10' + 27.92sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.137869) + 27.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.137869)[0m + 27.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.167869) + 27.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.167869)[0m + 27.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.197869) + 27.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.197869)[0m + 27.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.207870) + 27.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.207870)[0m + 28.51sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780602116.73470998 seconds. ×2 + 28.69sINFOros2_control_node[2026-06-04 19:41:56.909] [info] Received new action goal + 28.69sINFOros2_control_node[2026-06-04 19:41:56.909] [info] Accepted new action goal + 28.97sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 28.97sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 23 errors · 2 warnings · 140 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602240.77964354 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602241.33645177 seconds. ×2 + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602242.79663062 seconds ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602243.36314964 seconds. ×2 + 2.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.59sINFOobjective_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 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602243.36526179 seconds ×2 + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602243.93365121 seconds. ×2 + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602243.93420196 seconds ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602244.60456014 seconds. ×2 + 5.64sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.65sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780602246.43756604 seconds ×2 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.15sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.29sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 11.30sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.30sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.30sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.30sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.30sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.30sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.30sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.31sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.31sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.31sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.31sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.31sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.31sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 11.32sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] + 11.34sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] + 11.34sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] + 11.35sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 11.36sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 11.37sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 11.37sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 11.38sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 11.39sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 11.40sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 11.41sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 11.41sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 11.42sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 11.42sINFOcontroller_managerShutdown request received.... + 11.42sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.42sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.42sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.42sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.42sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 11.42sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.42sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.42sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.42sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.42sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.42sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.42sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.42sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.42sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.42sINFOcontroller_managerShutting down the controller manager. + 11.43sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m + 11.43sINFOfoxglove_bridgeShutting down foxglove_bridge[0m + 11.44sERRORui_teleop_bridgeTraceback (most recent call last): + 11.44sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 11.44sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 11.44sINFOui_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 + 11.44sINFOui_teleop_bridgerclpy.shutdown() + 11.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 11.44sINFOui_teleop_bridge_shutdown(context=context) + 11.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 11.44sINFOui_teleop_bridgereturn context.shutdown() + 11.44sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 11.44sINFOui_teleop_bridgeself.__context.shutdown() + 11.44sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 11.44sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 11.44sINFOros2_control_nodeShutdown request received....[0m + 11.44sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 11.44sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 11.44sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 11.44sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 11.44sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 11.44sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 11.44sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 11.44sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 11.44sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 11.44sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 11.44sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 11.44sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 11.44sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 11.44sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 11.44sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 11.44sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 11.44sINFOros2_control_nodeShutting down the controller manager.[0m + 11.48sINFOobjective_server_node[0;m[2026-06-04 19:44:12.249] [moveit_pro_license] [info] + 11.48sINFOobjective_server_node************************************************* ×2 + 11.48sINFOobjective_server_node* MoveIt Pro License + 11.48sINFOobjective_server_node* Application has successfully terminated + 11.55sINFOweb_video_server-20process has finished cleanly [pid 10256] + 11.55sINFOobjective_server_nodecorrupted double-linked list + 11.55sERRORobjective_server_nodeStack trace (most recent call last) in thread 10642: + 11.56sINFOtf2_web_republisher_node-19process has finished cleanly [pid 10254] + 11.56sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system + 11.56sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 11.57sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 11.57sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e2c0a83, in __clone + 11.57sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e22fac2, in + 11.57sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f89e89c221b, in + 11.57sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f89e8976674, in + 11.57sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f89e8965339, in + 11.57sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7f89e8955ede, in + 11.57sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e240452, in free + 11.57sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e23de9f, in + 11.57sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e23c968, in + 11.57sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e23c7cb, in + 11.57sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e23bcfb, in + 11.57sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e224676, in + 11.57sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e1c37f2, in abort + 11.57sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e1dd475, in raise + 11.57sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a0e2319fc, in pthread_kill + 11.57sERRORobjective_server_nodeAborted (Signal sent by tkill() 10244 0) + 11.59sERRORui_teleop_bridge-17process has died [pid 10250, 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_2l4265u2']. + 11.62sINFOexecute_objective_bridge-16process has finished cleanly [pid 10248] + 11.69sINFOfoxglove_bridgeShutdown complete[0m + 12.42sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10242] + 12.44sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10240] + 12.46sINFOparameter_manager_node-10process has finished cleanly [pid 10200] + 12.50sINFOwaypoint_manager_node-11process has finished cleanly [pid 10238] + 12.62sINFOcomponent_container_mt-15process has finished cleanly [pid 10246] + 12.75sERRORobjective_server_node_main-14process has died [pid 10244, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_57dgadp6 --params-file /tmp/launch_params_xol9kvlk --params-file /tmp/launch_params_bc17k6jk --params-file /tmp/launch_params_fyz6mci8 --params-file /tmp/launch_params_qbwfge9l --params-file /tmp/launch_params_uxxpfc0b']. + 12.75sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 12.75sINFOmove_group-9process has finished cleanly [pid 10197] + 13.50sINFOfoxglove_bridge-18process has finished cleanly [pid 10252] + 13.50sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system + 14.00sINFOros2_control_node-1process has finished cleanly [pid 10177] | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 2 errors · 57 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00279559 s). + 0.17sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOros2_control_node[2026-06-04 19:39:30.555] [info] Received new action goal + 0.24sINFOros2_control_node[2026-06-04 19:39:30.555] [info] Accepted new action goal + 0.68sINFOros2_control_node[2026-06-04 19:39:30.997] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 19:39:30.997] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-04 19:39:32.264] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-04 19:39:32.264] [info] Canceling active goal... + 1.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780601972.27870250 seconds ×2 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 2.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780601972.89298630 seconds. ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.75sINFOros2_control_node[2026-06-04 19:39:33.061] [info] Received new action goal + 2.75sINFOros2_control_node[2026-06-04 19:39:33.061] [info] Accepted new action goal + 2.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.88sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.88sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.25sINFOros2_control_node[2026-06-04 19:39:35.558] [info] Received new action goal + 5.25sINFOros2_control_node[2026-06-04 19:39:35.565] [info] Accepted new action goal + 13.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780601984.12433338 seconds ×2 + 14.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780601984.76436663 seconds. ×2 + 14.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 14.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 14.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780601984.81450891 seconds ×2 + 15.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780601985.38480759 seconds. ×2 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 15.18sINFOobjective_server_nodePath shortcutter: [X______X] + 15.20sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Received new action goal + 15.20sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Accepted new action goal + 17.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780601987.51541877 seconds ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 2 errors · 54 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×4 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.95sINFOros2_control_node[2026-06-04 19:40:39.872] [info] Received new action goal + 0.95sINFOros2_control_node[2026-06-04 19:40:39.872] [info] Accepted new action goal + 2.11sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780602041.02794623 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780602041.75953078 seconds. ×2 + 2.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.96sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 4.13sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.14sINFOros2_control_node[2026-06-04 19:40:43.064] [info] Received new action goal + 4.15sINFOros2_control_node[2026-06-04 19:40:43.064] [info] Accepted new action goal + 7.84sINFOobjective_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 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 10.20sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.22sINFOros2_control_node[2026-06-04 19:40:49.134] [info] Received new action goal + 10.22sINFOros2_control_node[2026-06-04 19:40:49.134] [info] Accepted new action goal + 13.82sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780602052.73986197 seconds ×2 + 14.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602053.36098647 seconds. ×2 + 14.56sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 14.56sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 14.60sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 14.61sINFOobjective_server_nodePath shortcutter: [X___X] + 14.62sINFOros2_control_node[2026-06-04 19:40:53.534] [info] Received new action goal + 14.62sINFOros2_control_node[2026-06-04 19:40:53.534] [info] Accepted new action goal + 15.89sINFOobjective_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 + 15.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.16sERRORobjective_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 + 17.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.1s | 4 errors · 33 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 14.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780602207.37710214 seconds ×2 + 14.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780602207.94329047 seconds. ×2 + 14.96sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.96sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 15.05sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 15.06sINFOobjective_server_nodePath shortcutter: [X________________X] + 15.07sINFOros2_control_node[2026-06-04 19:43:28.221] [info] Received new action goal + 15.07sINFOros2_control_node[2026-06-04 19:43:28.221] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 2 errors · 67 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602185.13848829 seconds ×2 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.65sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.65sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602185.88631415 seconds. ×2 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X______X] + 1.89sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Received new action goal + 1.89sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Accepted new action goal + 2.15sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.15sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.16sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m + 5.68sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures" + 5.68sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/pcd_pointcloud_captures"[0m + 6.18sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.18sINFOfoxglove_bridgeRemoving channel 74 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.87sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 8.14sINFOobjective_server_nodePath shortcutter: [X___________X] + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 8.16sINFOobjective_server_nodePath shortcutter: [X_________________X] + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 8.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 8.21sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution" + 8.21sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/solution"[0m + 8.22sINFOobjective_server_nodeFound path in 1 iterations (0.00254789 s). + 8.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 8.33sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 8.34sINFOros2_control_node[2026-06-04 19:43:12.575] [info] Received new action goal + 8.34sINFOros2_control_node[2026-06-04 19:43:12.575] [info] Accepted new action goal + 8.92sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 10.87sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 10.87sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 12.04sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 12.04sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 12.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 12.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 12.76sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 12.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 12.76sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 12.76sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.85sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 12.85sINFOobjective_server_nodePath shortcutter: [X________X] + 12.86sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 12.86sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 14.77sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 76 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780601961.26513982 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780601961.82932854 seconds. ×2 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] + 0.78sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.78sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.78sINFOros2_control_node[2026-06-04 19:39:22.043] [info] Received new action goal + 0.78sINFOros2_control_node[2026-06-04 19:39:22.043] [info] Accepted new action goal + 3.80sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 3.80sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m + 4.30sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.30sINFOfoxglove_bridgeRemoving channel 62 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m + 5.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 5.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 5.86sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 5.97sINFOobjective_server_nodePath shortcutter: [X__________X] + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 5.97sINFOobjective_server_nodePath shortcutter: [X________________X] + 5.98sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.01sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 6.10sINFOobjective_server_nodeFound path in 1 iterations (0.00237406 s). + 6.19sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 6.22sINFOobjective_server_nodeFound path in 1 iterations (0.00417288 s). + 6.30sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 6.31sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution" + 6.31sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/solution"[0m + 6.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 6.44sINFOros2_control_node[2026-06-04 19:39:27.709] [info] Received new action goal + 6.45sINFOros2_control_node[2026-06-04 19:39:27.709] [info] Accepted new action goal + 9.05sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 9.05sINFOobjective_server_nodePath shortcutter: [X_X] + 9.05sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 9.12sINFOobjective_server_nodeFound path in 1 iterations (0.00279559 s). + 9.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 9.29sINFOros2_control_node[2026-06-04 19:39:30.555] [info] Received new action goal + 9.29sINFOros2_control_node[2026-06-04 19:39:30.555] [info] Accepted new action goal + 9.73sINFOros2_control_node[2026-06-04 19:39:30.997] [info] Received new action goal + 9.73sINFOros2_control_node[2026-06-04 19:39:30.997] [info] Accepted new action goal + 11.00sINFOros2_control_node[2026-06-04 19:39:32.264] [info] Got request to cancel active goal. + 11.00sINFOros2_control_node[2026-06-04 19:39:32.264] [info] Canceling active goal... + 11.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780601972.27870250 seconds ×2 + 11.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780601972.89298630 seconds. ×2 + 11.78sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 11.80sINFOros2_control_node[2026-06-04 19:39:33.061] [info] Received new action goal + 11.80sINFOros2_control_node[2026-06-04 19:39:33.061] [info] Accepted new action goal + 11.93sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 11.93sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 11.93sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 11.93sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.30sINFOros2_control_node[2026-06-04 19:39:35.558] [info] Received new action goal + 14.30sINFOros2_control_node[2026-06-04 19:39:35.565] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 4 errors · 41 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m + 13.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780601961.26513982 seconds ×2 + 13.64sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780601961.82932854 seconds. ×2 + 13.85sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 13.85sINFOfoxglove_bridgeRemoving channel 60 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 13.85sINFOros2_control_node[2026-06-04 19:39:22.043] [info] Received new action goal + 13.85sINFOros2_control_node[2026-06-04 19:39:22.043] [info] Accepted new action goal + 16.87sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures" + 16.87sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/pcd_pointcloud_captures"[0m | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 2 errors · 47 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780602217.83437014 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780602218.40077615 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 19:43:38.515] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 19:43:38.515] [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 + 2.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602228.78133869 seconds ×2 + 11.51sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 11.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 11.94sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 11.94sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 12.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 12.18sINFOobjective_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 + 12.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 12.78sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 12.88sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 12.88sINFOobjective_server_nodePath shortcutter: [X___X] + 12.89sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 12.89sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Accepted new action goal | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 2 errors · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 0.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 1.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 1.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 2.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 2.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 2.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 2.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 2.63sINFOobjective_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 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 2.73sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.75sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 2.75sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 4.58sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 4.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 5.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.31sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 5.31sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal + 9.03sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 9.04sINFOros2_control_node[2026-06-04 19:38:17.603] [info] Received new action goal + 9.04sINFOros2_control_node[2026-06-04 19:38:17.603] [info] Accepted new action goal + 12.38sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 12.39sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.40sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 12.40sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 12.80sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 12.80sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 12.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 13.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 13.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 14.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 14.47sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 14.48sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 15.27sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 15.27sINFOobjective_server_nodePath shortcutter: [X______X] + 15.28sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 15.28sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Accepted new action goal | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 4 errors · 2 warnings · 69 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Accepted new action goal + 5.25sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.26sINFOros2_control_node[2026-06-04 19:43:54.038] [info] Received new action goal + 5.26sINFOros2_control_node[2026-06-04 19:43:54.038] [info] Accepted new action goal + 5.26sINFOros2_control_node[2026-06-04 19:43:54.038] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 11.99sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Got request to cancel active goal. + 11.99sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Canceling active goal... + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602240.77964354 seconds ×2 + 12.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602241.33645177 seconds. ×2 + 12.59sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 12.59sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 14.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602242.79663062 seconds ×2 + 14.58sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602243.36314964 seconds. ×2 + 14.58sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 14.58sINFOobjective_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 + 14.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 14.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602243.36526179 seconds ×2 + 14.60sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.60sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 14.60sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 14.60sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 15.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602243.93365121 seconds. ×2 + 15.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602243.93420196 seconds ×2 + 15.61sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 2 errors · 65 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 + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780601938.75405049 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780601939.35075331 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780601939.43089604 seconds ×2 + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780601940.12095213 seconds. ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Received new action goal + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Accepted new action goal + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 6.59sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 6.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.61sINFOros2_control_node[2026-06-04 19:39:03.605] [info] Received new action goal + 6.61sINFOros2_control_node[2026-06-04 19:39:03.605] [info] Accepted new action goal + 8.95sINFOros2_control_node[2026-06-04 19:39:05.942] [info] Received new action goal + 8.95sINFOros2_control_node[2026-06-04 19:39:05.942] [info] Accepted new action goal + 11.28sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 11.29sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 11.29sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 13.26sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 13.26sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 13.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 13.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 13.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 13.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 13.95sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 13.95sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 15.06sINFOobjective_server_nodePath shortcutter: [X______X] + 15.07sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 15.07sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 16.15sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 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: 1780602207.37710214 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780602207.94329047 seconds. ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.83sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.84sINFOros2_control_node[2026-06-04 19:43:28.221] [info] Received new action goal + 0.85sINFOros2_control_node[2026-06-04 19:43:28.221] [info] Accepted new action goal + 4.87sINFOros2_control_node[2026-06-04 19:43:32.250] [info] Received new action goal + 4.87sINFOros2_control_node[2026-06-04 19:43:32.250] [info] Accepted new action goal + 10.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780602217.83437014 seconds ×2 + 11.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780602218.40077615 seconds. ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 11.13sINFOobjective_server_nodePath shortcutter: [X________X] + 11.14sINFOros2_control_node[2026-06-04 19:43:38.515] [info] Received new action goal + 11.14sINFOros2_control_node[2026-06-04 19:43:38.515] [info] Accepted new action goal + 11.31sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution" + 11.31sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/preview_solution"[0m + 13.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.4s | 69 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780601984.76436663 seconds. ×2 + 0.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780601984.81450891 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780601985.38480759 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780601987.51541877 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780601988.08578825 seconds. ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.48sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Received new action goal + 3.48sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Accepted new action goal + 3.54sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.55sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m + 8.64sINFOobjective_server_node[0;93m2026-06-04 19:39:53.403574768 [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 + 8.64sINFOobjective_server_node[0;93m2026-06-04 19:39:53.403628660 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.22sINFOobjective_server_node[0;93m2026-06-04 19:39:53.986776418 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.22sINFOobjective_server_node[0;93m2026-06-04 19:39:53.986819790 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.37sINFOobjective_server_node[0;93m2026-06-04 19:39:54.134300420 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.37sINFOobjective_server_node[0;93m2026-06-04 19:39:54.136626264 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.37sINFOobjective_server_node[0;93m2026-06-04 19:39:54.136647945 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.72sINFOobjective_server_node[0;93m2026-06-04 19:39:54.482816331 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 9.74sINFOobjective_server_node[0;93m2026-06-04 19:39:54.503099026 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 9.74sINFOobjective_server_node[0;93m2026-06-04 19:39:54.503160548 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.11sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 11.11sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 11.13sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780601995.89843678 seconds ×2 + 11.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 12.12sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 12.12sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 12.13sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 12.13sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 12.49sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 12.49sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.98sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 + 12.98sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.10sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [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 + 13.11sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.11sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.47sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 13.48sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 13.48sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 14.64sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 14.64sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.2s | 58 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-04 19:39:53.403574768 [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 19:39:53.403628660 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.58sINFOobjective_server_node[0;93m2026-06-04 19:39:53.986776418 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.58sINFOobjective_server_node[0;93m2026-06-04 19:39:53.986819790 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.73sINFOobjective_server_node[0;93m2026-06-04 19:39:54.134300420 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 0.73sINFOobjective_server_node[0;93m2026-06-04 19:39:54.136626264 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 0.73sINFOobjective_server_node[0;93m2026-06-04 19:39:54.136647945 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.08sINFOobjective_server_node[0;93m2026-06-04 19:39:54.482816331 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.10sINFOobjective_server_node[0;93m2026-06-04 19:39:54.503099026 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.10sINFOobjective_server_node[0;93m2026-06-04 19:39:54.503160548 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization" + 2.47sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/masks_visualization"[0m + 2.49sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780601995.89843678 seconds ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 3.48sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.48sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.49sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.49sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 3.85sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 3.85sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.34sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 + 4.34sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.46sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 4.47sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [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 + 4.47sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.83sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [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 + 4.84sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [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 + 4.84sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.72sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 6.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 6.00sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 6.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780601999.74722862 seconds. ×2 + 6.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.35sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.42sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 6.43sINFOobjective_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 + 6.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.50sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 6.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 6.50sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 6.72sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 6.72sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.75sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Received new action goal + 6.75sINFOros2_control_node[2026-06-04 19:40:00.155] [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: 1780601984.12433338 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780601984.76436663 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780601984.81450891 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780601985.38480759 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.39sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780601987.51541877 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780601988.08578825 seconds. ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.12sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Received new action goal + 4.12sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Accepted new action goal + 4.18sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.19sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 2 errors · 2 warnings · 36 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602240.77964354 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602241.33645177 seconds. ×2 + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602242.79663062 seconds ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602243.36314964 seconds. ×2 + 2.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.59sINFOobjective_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 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602243.36526179 seconds ×2 + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602243.93365121 seconds. ×2 + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602243.93420196 seconds ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602244.60456014 seconds. ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 243 info |
+ 0.00sINFOobjective_server_node[2026-06-04 19:38:02.930] [moveit_pro_license] [info] + 0.00sINFOobjective_server_node************************************************* ×2 + 0.00sINFOobjective_server_node* MoveIt Pro License + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 0.19sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.20sINFOcontroller_managerupdate rate is 600 Hz + 0.20sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.20sWARNcontroller_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. + 0.20sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.20sWARNros2_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 + 0.23sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.23sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.31sINFOobjective_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. + 0.31sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 0.32sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.32sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.38sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.41sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.41sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.41sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.50sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.50sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info" + 0.54sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/visual_markers" + 0.55sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/visual_markers"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/depth" + 0.55sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/depth" + 0.55sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/color" + 0.55sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/depth"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/depth"[0m + 0.55sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/color"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/robotiq_gripper_controller/transition_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/robotiq_gripper_controller/transition_event"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/statistics" + 0.56sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/statistics"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/points" + 0.56sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_velocity_controller/transition_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/color" + 0.56sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event" + 0.56sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/points"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_velocity_controller/transition_event"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/color"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 0.56sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/description" + 0.57sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/points" + 0.57sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/description"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/points"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 0.57sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents" + 0.57sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status" + 0.57sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/camera_info" + 0.57sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/transition_event" + 0.57sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/camera_info"[0m + 0.57sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/transition_event"[0m + 0.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.62sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.62sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.62sINFOros2_control_node[2026-06-04 19:38:03.551] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2_control_node[2026-06-04 19:38:03.551] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.71sINFOros2_control_node[2026-06-04 19:38:03.635] [info] First order lag filter time constant set to: 0.2 seconds + 0.71sINFOros2_control_node[2026-06-04 19:38:03.635] [info] Controller state will be published at 50 Hz. + 0.71sINFOros2_control_node[2026-06-04 19:38:03.643] [info] Registered `FollowJointTrajectory` action server. + 0.71sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.71sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.72sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.72sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.73sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.73sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.73sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.73sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.73sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.73sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.73sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.73sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.73sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.74sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.77sINFOros2_control_node[2026-06-04 19:38:03.703] [info] Controller state will be published at 20 Hz. + 0.77sINFOros2_control_node[2026-06-04 19:38:03.704] [info] JointVelocityController 'on_configure' succeeded. + 0.78sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.78sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.78sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 0.82sINFOros2_control_node[2026-06-04 19:38:03.746] [info] Controller state will be published at 10 Hz. + 0.82sINFOros2_control_node[2026-06-04 19:38:03.748] [info] VelocityForceController 'on_configure' succeeded. + 0.82sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.84sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.89sINFOobjective_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. + 0.89sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.89sWARNobjective_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/. + 1.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10187] + 1.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10194] + 1.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10181] + 1.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10191] + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10179] + 1.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10183] + 1.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 1.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 1.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 1.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10185] + 1.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.28sINFOmove_group ×2 + 1.28sINFOmove_group[92mYou can start planning now![0m + 1.31sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event" + 1.31sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event"[0m + 1.31sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command" + 1.31sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event" + 1.31sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command"[0m + 1.31sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event"[0m + 1.31sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state" + 1.31sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state"[0m + 1.32sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap" + 1.32sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" + 1.32sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" + 1.32sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 1.32sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m + 1.32sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m + 1.32sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 1.32sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 1.32sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 1.32sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.33sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 1.33sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 1.33sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.33sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 1.33sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 1.33sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 1.33sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 1.33sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 1.33sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 1.33sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 1.74sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780601885.30119944 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780601885.31142187 seconds ×2 + 2.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 2.46sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.98sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 4.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 4.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 5.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 6.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 6.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 6.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 6.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 7.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 7.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 94 info |
+ 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.04sINFOmove_group ×2 + 0.04sINFOmove_group[92mYou can start planning now![0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command" + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state" + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap" + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 0.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780601885.30119944 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780601885.31142187 seconds ×2 + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.73sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 4.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 6.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 7.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 7.02sINFOobjective_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 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 7.12sINFOobjective_server_nodePath shortcutter: [X_______X] + 7.13sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 7.14sINFOros2_control_node[2026-06-04 19:38:11.305] [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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 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 + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780601938.75405049 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780601939.35075331 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780601939.43089604 seconds ×2 + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780601940.12095213 seconds. ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Received new action goal + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Accepted new action goal + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [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: 1780601984.12433338 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780601984.76436663 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780601984.81450891 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780601985.38480759 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.39sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780601987.51541877 seconds ×2 + 3.96sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780601988.08578825 seconds. ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 4.12sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Received new action goal + 4.12sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Accepted new action goal + 4.18sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 4.19sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| ✓ 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: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 errors · 2 warnings · 42 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602240.77964354 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602241.33645177 seconds. ×2 + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602242.79663062 seconds ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602243.36314964 seconds. ×2 + 2.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.59sINFOobjective_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 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602243.36526179 seconds ×2 + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602243.93365121 seconds. ×2 + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602243.93420196 seconds ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602244.60456014 seconds. ×2 + 5.64sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.65sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780602246.43756604 seconds ×2 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.15sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.29sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 41 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602240.77964354 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602241.33645177 seconds. ×2 + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602242.79663062 seconds ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602243.36314964 seconds. ×2 + 2.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.59sINFOobjective_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 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602243.36526179 seconds ×2 + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602243.93365121 seconds. ×2 + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602243.93420196 seconds ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String)[0m + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602244.60456014 seconds. ×2 + 5.64sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 5.65sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780602246.43756604 seconds ×2 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 6.15sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.1s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602185.13848829 seconds ×2 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.65sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.65sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602185.88631415 seconds. ×2 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X______X] + 1.89sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Received new action goal + 1.89sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Accepted new action goal + 2.15sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.15sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.16sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780602052.73986197 seconds ×2 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602053.36098647 seconds. ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.74sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/agent_event"[0m + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). + 0.79sINFOobjective_server_nodePath shortcutter: [X___X] + 0.80sINFOros2_control_node[2026-06-04 19:40:53.534] [info] Received new action goal + 0.80sINFOros2_control_node[2026-06-04 19:40:53.534] [info] Accepted new action goal + 2.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.09sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.16sINFOobjective_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 + 3.34sERRORobjective_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 + 3.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 28 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 + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780601938.75405049 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780601939.35075331 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780601939.43089604 seconds ×2 + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780601940.12095213 seconds. ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Received new action goal + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Accepted new action goal + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − 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: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Received new action goal + 0.13sINFOros2_control_node[2026-06-04 19:38:20.963] [info] Accepted new action goal + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Got request to cancel active goal. + 0.53sINFOros2_control_node[2026-06-04 19:38:21.359] [info] Canceling active goal... + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780601901.37464952 seconds ×2 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780601901.98842692 seconds. ×2 + 1.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780601902.10855532 seconds ×2 + 1.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780601902.67389774 seconds. ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event" + 2.20sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/agent_event"[0m + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Received new action goal + 3.00sINFOros2_control_node[2026-06-04 19:38:23.838] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 28 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 + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780601938.75405049 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780601939.35075331 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780601939.43089604 seconds ×2 + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780601940.12095213 seconds. ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Received new action goal + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Accepted new action goal + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 28 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 + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780601938.75405049 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780601939.35075331 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780601939.43089604 seconds ×2 + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780601940.12095213 seconds. ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Received new action goal + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Accepted new action goal + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 28 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 + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Received new action goal + 0.38sINFOros2_control_node[2026-06-04 19:38:57.372] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780601938.75405049 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780601939.35075331 seconds. ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780601939.43089604 seconds ×2 + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.84sINFOfoxglove_bridgeRemoving channel 59 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780601940.12095213 seconds. ×2 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Received new action goal + 3.26sINFOros2_control_node[2026-06-04 19:39:00.255] [info] Accepted new action goal + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.35sINFOfoxglove_bridgeRemoving channel 57 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 25 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.09sINFOros2_control_node[2026-06-04 19:39:08.283] [info] Received new action goal + 0.10sINFOros2_control_node[2026-06-04 19:39:08.286] [info] Accepted new action goal + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Got request to cancel active goal. + 2.07sINFOros2_control_node[2026-06-04 19:39:10.261] [info] Canceling active goal... + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780601950.26780701 seconds ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780601950.88467741 seconds. ×2 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution" + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event" + 2.75sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/preview_solution"[0m + 2.75sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/agent_event"[0m + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Received new action goal + 3.88sINFOros2_control_node[2026-06-04 19:39:12.069] [info] Accepted new action goal + 4.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.52% of iterations over budget over 1:10.001 of wall time (113/21533). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 32 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00279559 s). + 0.17sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.24sINFOros2_control_node[2026-06-04 19:39:30.555] [info] Received new action goal + 0.24sINFOros2_control_node[2026-06-04 19:39:30.555] [info] Accepted new action goal + 0.68sINFOros2_control_node[2026-06-04 19:39:30.997] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 19:39:30.997] [info] Accepted new action goal + 1.95sINFOros2_control_node[2026-06-04 19:39:32.264] [info] Got request to cancel active goal. + 1.95sINFOros2_control_node[2026-06-04 19:39:32.264] [info] Canceling active goal... + 1.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780601972.27870250 seconds ×2 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780601972.89298630 seconds. ×2 + 2.73sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 2.75sINFOros2_control_node[2026-06-04 19:39:33.061] [info] Received new action goal + 2.75sINFOros2_control_node[2026-06-04 19:39:33.061] [info] Accepted new action goal + 2.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.88sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.88sINFOfoxglove_bridgeRemoving channel 63 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 2.88sINFOfoxglove_bridgeRemoving channel 61 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 5.25sINFOros2_control_node[2026-06-04 19:39:35.558] [info] Received new action goal + 5.25sINFOros2_control_node[2026-06-04 19:39:35.565] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 25 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780601984.12433338 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780601984.76436663 seconds. ×2 + 0.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780601984.81450891 seconds ×2 + 1.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780601985.38480759 seconds. ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 1.37sINFOobjective_server_nodePath shortcutter: [X______X] + 1.39sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Received new action goal + 1.39sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Accepted new action goal + 3.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780601987.51541877 seconds ×2 | ||||
| − 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: 1780601984.76436663 seconds. ×2 + 0.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780601984.81450891 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780601985.38480759 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780601987.51541877 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780601988.08578825 seconds. ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.48sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Received new action goal + 3.48sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Accepted new action goal + 3.54sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.55sINFOfoxglove_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: 1780601984.76436663 seconds. ×2 + 0.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780601984.81450891 seconds ×2 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780601985.38480759 seconds. ×2 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-04 19:39:45.509] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780601987.51541877 seconds ×2 + 3.32sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780601988.08578825 seconds. ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 3.48sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Received new action goal + 3.48sINFOros2_control_node[2026-06-04 19:39:48.242] [info] Accepted new action goal + 3.54sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view" + 3.55sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 42 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 0.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.29sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [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 + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780601999.74722862 seconds. ×2 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOobjective_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 + 3.24sINFOobjective_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 + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.53sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 3.53sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Received new action goal + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 42 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 0.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.29sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [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 + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780601999.74722862 seconds. ×2 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOobjective_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 + 3.24sINFOobjective_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 + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.53sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 3.53sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Received new action goal + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 42 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 0.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.29sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [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 + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780601999.74722862 seconds. ×2 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOobjective_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 + 3.24sINFOobjective_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 + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.53sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 3.53sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Received new action goal + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 42 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 0.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.29sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [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 + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780601999.74722862 seconds. ×2 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOobjective_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 + 3.24sINFOobjective_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 + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.53sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 3.53sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Received new action goal + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 42 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780601996.59469223 seconds. ×2 + 0.29sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.29sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.30sINFOfoxglove_bridgeRemoving channel 65 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 0.30sINFOfoxglove_bridgeRemoving channel 64 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249250352 [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 + 0.66sINFOobjective_server_node[0;93m2026-06-04 19:39:57.249322415 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.15sINFOobjective_server_node[0;93m2026-06-04 19:39:57.742002112 [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 19:39:57.742045463 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:39:57.868447418 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871137886 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 1.28sINFOobjective_server_node[0;93m2026-06-04 19:39:57.871168867 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.63sINFOobjective_server_node[0;93m2026-06-04 19:39:58.229229910 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243214702 [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 + 1.65sINFOobjective_server_node[0;93m2026-06-04 19:39:58.243251293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780601999.11966491 seconds ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization" + 2.81sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/masks_visualization"[0m + 3.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780601999.74722862 seconds. ×2 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.23sINFOobjective_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 + 3.24sINFOobjective_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 + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 3.31sINFOfoxglove_bridgeRemoving channel 66 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 3.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m + 3.53sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). + 3.53sINFOobjective_server_nodePath shortcutter: [X____________X] + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Received new action goal + 3.56sINFOros2_control_node[2026-06-04 19:40:00.155] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 146 errors · 1297 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×275 + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×163 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×202 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×275 + 0.01sINFOros2_control_nodeGoal reached, success![0m ×163 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×202 + 0.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.957869) + 0.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.957869)[0m + 0.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.977869) + 0.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.977869)[0m + 0.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.987870) ×2 + 0.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602112.987870)[0m ×2 + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.007869) + 0.10sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.017869) + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.007869)[0m + 0.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.017869)[0m + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.237869) + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.237869)[0m + 0.41sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.327869) ×2 + 0.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.327869)[0m ×2 + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.407869) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.407869)[0m + 0.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.427870) + 0.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.427870)[0m + 0.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.467870) + 0.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.467870)[0m + 0.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.537869) + 0.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.537869)[0m + 0.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.607869) + 0.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.607869)[0m + 0.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.627869) + 0.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.627869)[0m + 0.75sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.667869) + 0.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.667869)[0m + 0.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.737869) ×2 + 0.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.737869)[0m ×2 + 0.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.757869) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.757869)[0m + 0.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.797869) + 0.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.797869)[0m + 1.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.917869) + 1.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.917869)[0m + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.937869) + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602113.937869)[0m + 1.12sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.037869) + 1.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.037869)[0m + 1.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.087869) ×2 + 1.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.087869)[0m ×2 + 1.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.107869) + 1.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.107869)[0m + 1.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.137869) + 1.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.137869)[0m + 1.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.227870) + 1.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.227870)[0m + 1.33sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.247869) + 1.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.247869)[0m + 1.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.277869) + 1.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.277869)[0m + 1.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.427870) ×2 + 1.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.427870)[0m ×2 + 1.54sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.447870) + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.447870)[0m + 1.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.457869) + 1.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.467870) + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.457869)[0m + 1.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.467870)[0m + 1.56sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.477869) + 1.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.477869)[0m + 1.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.717869) + 1.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.717869)[0m + 1.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.807869) + 1.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.807869)[0m + 1.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.817869) + 1.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.817869)[0m + 1.95sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.867869) + 1.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.867869)[0m + 1.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.877869) + 1.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.887869) + 1.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.877869)[0m + 1.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.887869)[0m + 2.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.937869) + 2.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.937869)[0m + 2.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.987870) + 2.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602114.987870)[0m + 2.09sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.007869) + 2.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.007869)[0m + 2.16sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.077869) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.077869)[0m + 2.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.107869) + 2.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.107869)[0m + 2.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.117869) + 2.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.117869)[0m + 2.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.137869) + 2.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.137869)[0m + 2.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.207870) + 2.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.207870)[0m + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.227870) + 2.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.237869) + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.227870)[0m + 2.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.237869)[0m + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.277869) + 2.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.287869) + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.277869)[0m + 2.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.287869)[0m + 2.51sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.427870) + 2.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.427870)[0m + 2.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.567869) + 2.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.567869)[0m + 2.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.607869) + 2.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.607869)[0m + 2.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.627869) + 2.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.627869)[0m + 2.79sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.707870) + 2.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.707870)[0m + 2.81sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.727870) + 2.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.727870)[0m + 2.83sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.747869) + 2.83sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.747869)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.777869) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.777869)[0m + 2.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.797869) + 2.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.797869)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.917869) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.917869)[0m + 3.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.927870) + 3.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.927870)[0m + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.947870) + 3.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.957869) ×2 + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.947870)[0m + 3.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.957869)[0m ×2 + 3.06sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.977869) + 3.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602115.977869)[0m + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602116.12691832 seconds ×2 + 3.21sINFOobjective_server_node[0;mLogger has an invalid severity level: �'��� + 3.21sINFOobjective_server_nodeError getting effective level of logger 'objective_server_node.rclcpp_action' + 3.21sINFOobjective_server_nodeError determining if logger 'objective_server_node.rclcpp_action' is enabled for severity '10' + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.22sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.137869) + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.137869)[0m + 3.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.167869) + 3.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.167869)[0m + 3.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.197869) + 3.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.197869)[0m + 3.29sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.207870) + 3.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602098.937869) that ends in the past (1780602116.207870)[0m + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780602116.73470998 seconds. ×2 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.98sINFOobjective_server_nodePath shortcutter: [X_________________________X] + 3.99sINFOros2_control_node[2026-06-04 19:41:56.909] [info] Received new action goal + 3.99sINFOros2_control_node[2026-06-04 19:41:56.909] [info] Accepted new action goal + 4.27sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view" + 4.27sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/moveit_pro_ui/switch_primary_view"[0m | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 58 errors · 976 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×196 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×167 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×196 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×167 + 0.03sINFOjoint_trajectory_controllerGoal reached, success! ×117 + 0.03sINFOros2_control_nodeGoal reached, success![0m ×117 + 0.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.366557) + 0.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.366557)[0m + 0.63sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.496557) + 0.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.496557)[0m + 0.64sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.506557) + 0.64sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.506557)[0m + 0.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.546557) + 0.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.546557)[0m + 0.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.846557) + 0.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.846557)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.876557) + 1.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602147.876557)[0m + 1.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.056556) + 1.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.056556)[0m + 1.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.076556) ×2 + 1.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.076556)[0m ×2 + 1.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.096556) ×2 + 1.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.096556)[0m ×2 + 1.28sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.136557) + 1.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.136557)[0m + 2.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.986557) + 2.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602148.986557)[0m + 2.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.006557) + 2.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.006557)[0m + 2.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.016557) + 2.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.016557)[0m + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.026557) + 2.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.036556) + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.026557)[0m + 2.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.036556)[0m + 2.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.106557) + 2.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.106557)[0m + 2.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.126557) + 2.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.126557)[0m + 2.30sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.166557) + 2.30sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.166557)[0m + 2.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.696557) ×2 + 2.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.696557)[0m ×2 + 2.84sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.706557) + 2.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.706557)[0m + 2.86sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.716557) + 2.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.716557)[0m + 2.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.756557) + 2.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602149.756557)[0m + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780602150.08101130 seconds ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.116557) + 3.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.126557) + 3.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.116557)[0m + 3.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.126557)[0m + 3.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.166557) + 3.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.176557) + 3.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.166557)[0m + 3.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780602132.936557) that ends in the past (1780602150.176557)[0m + 3.87sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780602150.73828673 seconds. ×2 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.17sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.17sINFOfoxglove_bridgeRemoving channel 69 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m + 4.95sINFOobjective_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 + 5.05sINFOobjective_server_nodeFound path in 6 iterations (0.00525299 s). + 5.10sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.12sINFOros2_control_node[2026-06-04 19:42:31.985] [info] Received new action goal + 5.12sINFOros2_control_node[2026-06-04 19:42:31.985] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 22 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602185.13848829 seconds ×2 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.65sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 1.65sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602185.88631415 seconds. ×2 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 1.88sINFOobjective_server_nodePath shortcutter: [X______X] + 1.89sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Received new action goal + 1.89sINFOros2_control_node[2026-06-04 19:43:06.120] [info] Accepted new action goal + 2.15sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 2.15sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution" + 2.16sINFOfoxglove_bridgeRemoving channel 71 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m + 2.16sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/preview_solution"[0m | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 21 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.77% of iterations over budget over 5:10.008 of wall time (729/94427). Below 1% is expected on a non-realtime system.[0m + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Received new action goal + 1.95sINFOros2_control_node[2026-06-04 19:43:15.097] [info] Accepted new action goal + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Got request to cancel active goal. + 3.12sINFOros2_control_node[2026-06-04 19:43:16.268] [info] Canceling active goal... + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602196.27828097 seconds ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602196.91676331 seconds. ×2 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 3.84sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.84sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.85sINFOfoxglove_bridgeRemoving channel 68 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 3.85sINFOfoxglove_bridgeRemoving channel 75 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Received new action goal + 3.94sINFOros2_control_node[2026-06-04 19:43:17.091] [info] Accepted new action goal + 5.85sINFOobjective_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: 1780602207.37710214 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780602207.94329047 seconds. ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 0.73sINFOfoxglove_bridgeRemoving channel 73 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 0.83sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.84sINFOros2_control_node[2026-06-04 19:43:28.221] [info] Received new action goal + 0.85sINFOros2_control_node[2026-06-04 19:43:28.221] [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: 1780602217.83437014 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780602218.40077615 seconds. ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-04 19:43:38.515] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-04 19:43:38.515] [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 + 2.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 31 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [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: 1780602228.78133869 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602229.34668541 seconds. ×2 + 0.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602229.42766118 seconds ×2 + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 1.00sINFOfoxglove_bridgeRemoving channel 76 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m + 1.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602229.99061775 seconds. ×2 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602230.01263261 seconds ×2 + 1.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602230.61102557 seconds. ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 1.94sINFOobjective_server_nodePath shortcutter: [X___X] + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Received new action goal + 1.94sINFOros2_control_node[2026-06-04 19:43:50.725] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 33 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602240.77964354 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602241.33645177 seconds. ×2 + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602242.79663062 seconds ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602243.36314964 seconds. ×2 + 2.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.59sINFOobjective_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 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602243.36526179 seconds ×2 + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602243.93365121 seconds. ×2 + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602243.93420196 seconds ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 33 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-04 19:44:00.771] [info] Canceling active goal... + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602240.77964354 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602241.33645177 seconds. ×2 + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 0.60sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m + 2.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602242.79663062 seconds ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602243.36314964 seconds. ×2 + 2.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.59sINFOobjective_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 + 2.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602243.36526179 seconds ×2 + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg" + 2.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/secret_msg"[0m + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602243.93365121 seconds. ×2 + 3.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602243.93420196 seconds ×2 + 3.62sINFOfoxglove_bridgeRemoving channel 78 for topic "/secret_msg" (std_msgs/msg/String) | ||||
▾
/__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 | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.9s | 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/2026-06-04-19-37-58-485375-5f916d143ef6-10147 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.60sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.68sINFOros2_control_node-1process started with pid [10177] + 1.68sINFOmove_group-9process started with pid [10197] + 1.68sINFOparameter_manager_node-10process started with pid [10200] + 1.68sINFOwaypoint_manager_node-11process started with pid [10238] + 1.68sINFOmove_joint_resampler_node-12process started with pid [10240] + 1.68sINFOmove_end_effector_resampler_node-13process started with pid [10242] + 1.68sINFOobjective_server_node_main-14process started with pid [10244] + 1.68sINFOcomponent_container_mt-15process started with pid [10246] + 1.68sINFOexecute_objective_bridge-16process started with pid [10248] + 1.68sINFOui_teleop_bridge-17process started with pid [10250] + 1.68sINFOfoxglove_bridge-18process started with pid [10252] + 1.68sINFOtf2_web_republisher_node-19process started with pid [10254] + 1.68sINFOweb_video_server-20process started with pid [10256] + 1.68sINFOparameter_manager_nodeStarted parameter manager node. + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10179] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10181] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10183] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10185] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10187] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10191] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10194] + 1.71sWARNros2_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 + 1.71sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.94sINFOfoxglove_bridgeServer listening on port 3201 + 1.94sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf" + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.96sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout" + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.97sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.97sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf"[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.97sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" + 1.98sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.98sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 1.98sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state" + 1.99sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static" + 1.99sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.99sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 2.00sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description" + 2.44sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic" + 2.44sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description"[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic"[0m + 2.45sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector" + 2.45sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states" + 2.47sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" + 2.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m + 2.53sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.58sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.64sINFOros2_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. + 2.64sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.64sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.65sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.67sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.70sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOwaypoint_manager_nodeStarted waypoint manager node. + 3.10sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" + 3.10sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" + 3.12sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" + 3.12sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 3.12sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 3.12sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" + 3.12sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 3.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 3.13sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 3.13sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m + 3.80sINFOobjective_server_node[2026-06-04 19:38:02.930] [moveit_pro_license] [info] + 3.80sINFOobjective_server_node************************************************* ×2 + 3.80sINFOobjective_server_node* MoveIt Pro License + 3.80sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) + 3.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 3.99sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 3.99sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 3.99sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 3.99sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 3.99sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 3.99sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 4.00sINFOcontroller_managerupdate rate is 600 Hz + 4.00sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.00sWARNcontroller_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. + 4.00sINFOros2_control_nodeupdate rate is 600 Hz[0m + 4.00sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 4.00sWARNros2_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 + 4.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.03sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 4.11sINFOobjective_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. + 4.11sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp + 4.13sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 4.13sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 4.13sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 4.13sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 4.13sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 4.13sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 4.13sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 4.13sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 4.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 4.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.22sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 4.22sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 4.22sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 4.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.23sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.23sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 4.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.31sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.31sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 4.31sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.32sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 4.32sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.34sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info" + 4.35sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/wrist_camera/camera_info"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/visual_markers" + 4.35sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/visual_markers"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/depth" + 4.35sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/depth" + 4.35sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/color" + 4.35sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/wrist_camera/depth"[0m + 4.35sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/scene_camera/depth"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/scene_camera/color"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/robotiq_gripper_controller/transition_event" + 4.36sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/robotiq_gripper_controller/transition_event"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/statistics" + 4.36sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/statistics"[0m + 4.36sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/points" + 4.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_velocity_controller/transition_event" + 4.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/color" + 4.37sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.37sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event" + 4.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/wrist_camera/points"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/joint_velocity_controller/transition_event"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/wrist_camera/color"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/joint_trajectory_admittance_controller/transition_event"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/joint_state_broadcaster/transition_event"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/description" + 4.37sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/points" + 4.37sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/description"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/points"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 4.37sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents" + 4.37sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/blackboard_contents"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status" + 4.37sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/camera_info" + 4.37sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/transition_event" + 4.37sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/behavior_tree_status"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/camera_info"[0m + 4.37sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/joint_trajectory_controller/transition_event"[0m + 4.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 4.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 4.42sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 4.42sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 4.42sINFOros2_control_node[2026-06-04 19:38:03.551] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.42sINFOros2_control_node[2026-06-04 19:38:03.551] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 4.51sINFOros2_control_node[2026-06-04 19:38:03.635] [info] First order lag filter time constant set to: 0.2 seconds + 4.51sINFOros2_control_node[2026-06-04 19:38:03.635] [info] Controller state will be published at 50 Hz. + 4.52sINFOros2_control_node[2026-06-04 19:38:03.643] [info] Registered `FollowJointTrajectory` action server. + 4.52sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 4.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.52sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 4.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 4.52sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 4.52sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 4.52sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 4.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 4.53sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 4.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 4.53sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 4.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 4.53sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 4.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 4.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 4.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 4.53sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 4.54sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 4.54sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 4.58sINFOros2_control_node[2026-06-04 19:38:03.703] [info] Controller state will be published at 20 Hz. + 4.58sINFOros2_control_node[2026-06-04 19:38:03.704] [info] JointVelocityController 'on_configure' succeeded. + 4.58sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 4.58sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.58sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 4.58sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 4.58sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 4.58sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 4.62sINFOros2_control_node[2026-06-04 19:38:03.746] [info] Controller state will be published at 10 Hz. + 4.62sINFOros2_control_node[2026-06-04 19:38:03.748] [info] VelocityForceController 'on_configure' succeeded. + 4.62sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 4.62sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 4.63sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.63sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.64sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.64sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.70sINFOobjective_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. + 4.70sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 4.70sWARNobjective_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/. + 4.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 10187] + 4.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 4.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 10194] + 4.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 10181] + 4.92sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 4.92sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 4.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 10191] + 4.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 10179] + 4.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 10183] + 4.97sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m + 4.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m + 4.97sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m + 4.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m + 4.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 10185] + 4.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 4.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 5.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 5.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 5.08sINFOmove_group ×2 + 5.08sINFOmove_group[92mYou can start planning now![0m + 5.11sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event" + 5.11sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event"[0m + 5.11sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command" + 5.11sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event" + 5.11sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command"[0m + 5.11sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event"[0m + 5.12sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state" + 5.12sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state"[0m + 5.12sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap" + 5.12sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" + 5.12sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" + 5.12sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 5.12sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m + 5.12sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m + 5.12sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 5.12sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 5.13sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 5.13sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 5.13sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 5.13sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 5.13sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 5.13sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 5.13sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 5.13sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 5.13sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 5.13sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 5.13sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 5.13sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 5.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 5.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 5.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 6.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780601885.30119944 seconds. ×2 + 6.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780601885.31142187 seconds ×2 + 6.26sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 6.26sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 6.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 6.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.78sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.78sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 7.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 8.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 9.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 9.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 10.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.22sINFOobjective_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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.33sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.33sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.17sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.90sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.90sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 52 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_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: 1780601886.97128391 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 5.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 5.33sINFOobjective_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 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 5.43sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.44sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 5.44sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 7.28sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 2 warnings · 112 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-19-37-58-485375-5f916d143ef6-10147 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.60sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.68sINFOros2_control_node-1process started with pid [10177] + 1.68sINFOmove_group-9process started with pid [10197] + 1.68sINFOparameter_manager_node-10process started with pid [10200] + 1.68sINFOwaypoint_manager_node-11process started with pid [10238] + 1.68sINFOmove_joint_resampler_node-12process started with pid [10240] + 1.68sINFOmove_end_effector_resampler_node-13process started with pid [10242] + 1.68sINFOobjective_server_node_main-14process started with pid [10244] + 1.68sINFOcomponent_container_mt-15process started with pid [10246] + 1.68sINFOexecute_objective_bridge-16process started with pid [10248] + 1.68sINFOui_teleop_bridge-17process started with pid [10250] + 1.68sINFOfoxglove_bridge-18process started with pid [10252] + 1.68sINFOtf2_web_republisher_node-19process started with pid [10254] + 1.68sINFOweb_video_server-20process started with pid [10256] + 1.68sINFOparameter_manager_nodeStarted parameter manager node. + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [10179] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [10181] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [10183] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [10185] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [10187] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [10191] + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [10194] + 1.71sWARNros2_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 + 1.71sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.72sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@) + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (humble, 3.2.5@)[0m + 1.94sINFOfoxglove_bridgeServer listening on port 3201 + 1.94sINFOfoxglove_bridgeServer listening on port 3201[0m + 1.96sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf" + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.96sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout" + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.96sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.97sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.97sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/tf"[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/rosout"[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 1.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 1.97sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 1.97sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events" + 1.98sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/parameter_events"[0m + 1.98sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 1.98sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state" + 1.99sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/store_joint_state"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static" + 1.99sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/tf_static"[0m + 1.99sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint" + 1.99sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/moveit_pro_ui/move_joint"[0m + 2.00sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint" + 2.00sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/agent_interface/move_joint"[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description" + 2.44sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic" + 2.44sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/robot_description"[0m + 2.44sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description_semantic"[0m + 2.45sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector" + 2.45sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/moveit_pro_ui/move_end_effector"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states" + 2.47sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector" + 2.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/joint_states"[0m + 2.47sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/agent_interface/move_end_effector"[0m + 2.53sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.58sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.64sINFOros2_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. + 2.64sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.64sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.65sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.67sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.70sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.74sINFOwaypoint_manager_nodeStarted waypoint manager node. + 3.10sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world" + 3.10sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/planning_scene_world"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene" + 3.12sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/planning_scene"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result" + 3.12sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 3.12sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 3.12sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene" + 3.12sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/moveit_pro_ui/do_teleoperate/result"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m + 3.12sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/monitored_planning_scene"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object" + 3.13sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/collision_object"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object" + 3.13sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal" + 3.13sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/attached_collision_object"[0m + 3.13sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 86 info |
+ 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.04sINFOmove_group ×2 + 0.04sINFOmove_group[92mYou can start planning now![0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command" + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state" + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap" + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 0.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780601885.30119944 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780601885.31142187 seconds ×2 + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.73sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 4.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 6.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | createvector.xml | 0.0s | 86 info |
+ 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.04sINFOmove_group ×2 + 0.04sINFOmove_group[92mYou can start planning now![0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command" + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state" + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap" + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 0.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780601885.30119944 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780601885.31142187 seconds ×2 + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.73sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 4.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 6.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 86 info |
+ 0.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 0.04sINFOmove_group ×2 + 0.04sINFOmove_group[92mYou can start planning now![0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/velocity_force_controller/transition_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command" + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event" + 0.07sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/velocity_force_controller/command"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/trajectory_execution_event"[0m + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state" + 0.07sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/velocity_force_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap" + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command" + 0.08sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/transient_monitored_planning_scene_without_octomap"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_velocity_controller/controller_state"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_velocity_controller/command"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 0.08sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m + 0.08sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state" + 0.08sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench" + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.09sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_admittance_controller/controller_state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state" + 0.09sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/force_torque_sensor_broadcaster/wrench"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/force_torque_sensor_broadcaster/transition_event"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/state"[0m + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states" + 0.09sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/dynamic_joint_states"[0m + 0.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780601885.30119944 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780601885.31142187 seconds ×2 + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event" + 1.22sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/agent_event"[0m + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.73sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 1.74sINFOfoxglove_bridgeRemoving channel 56 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 4.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 6.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 51 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780601885.86111641 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_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: 1780601886.97128391 seconds ×2 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 4.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 4.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 5.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 5.33sINFOobjective_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 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 5.43sINFOobjective_server_nodePath shortcutter: [X_______X] + 5.44sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 5.44sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 46 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780601886.97128391 seconds ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.22sINFOobjective_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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.33sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.33sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.17sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [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 | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [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 | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [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 | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [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 | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 52 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780601887.54963875 seconds. ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780601888.55980301 seconds ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780601889.11629558 seconds. ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780601889.12642002 seconds ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780601889.71097898 seconds. ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780601889.86148691 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780601890.53582311 seconds. ×2 + 3.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780601890.60595632 seconds ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780601891.17851853 seconds. ×2 + 4.19sINFOobjective_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 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (1.8531e-05 s). + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Received new action goal + 4.30sINFOros2_control_node[2026-06-04 19:38:11.305] [info] Accepted new action goal + 6.14sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.22% of iterations over budget over 0:10.001 of wall time (7/3141). Below 1% is expected on a non-realtime system.[0m + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.81sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Received new action goal + 6.86sINFOros2_control_node[2026-06-04 19:38:13.866] [info] Accepted new action goal | ||||