118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
9.7s
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 | 43.1s | 115 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.82sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.14sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.96sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.73sINFOobjective_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 + 3.75sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×14 + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Accepted new action goal + 6.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 6.94sINFOros2_control_node[2026-06-02 21:28:47.301] [info] Received new action goal + 6.94sINFOros2_control_node[2026-06-02 21:28:47.301] [info] Accepted new action goal + 10.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 + 10.12sINFOros2_control_node[2026-06-02 21:28:50.480] [info] Received new action goal + 10.12sINFOros2_control_node[2026-06-02 21:28:50.480] [info] Accepted new action goal + 13.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 13.08sINFOobjective_server_nodePath shortcutter: [X_________________X] + 13.14sINFOros2_control_node[2026-06-02 21:28:53.508] [info] Received new action goal + 13.14sINFOros2_control_node[2026-06-02 21:28:53.508] [info] Accepted new action goal + 16.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 21.37sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.56% of iterations over budget over 2:10.004 of wall time (222/39642). Below 1% is expected on a non-realtime system.[0m + 23.59sINFOobjective_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 + 24.51sINFOros2_control_node[2026-06-02 21:29:04.875] [info] Received new action goal + 24.51sINFOros2_control_node[2026-06-02 21:29:04.875] [info] Accepted new action goal + 25.70sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×2 + 25.71sINFOobjective_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 + 26.00sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). + 26.04sINFOros2_control_node[2026-06-02 21:29:06.405] [info] Received new action goal + 26.04sINFOros2_control_node[2026-06-02 21:29:06.405] [info] Accepted new action goal + 28.33sINFOobjective_server_nodeFound path in 0 iterations (1.81e-06 s). + 28.33sINFOobjective_server_nodePath shortcutter: [X__________X] + 28.35sINFOros2_control_node[2026-06-02 21:29:08.716] [info] Received new action goal + 28.35sINFOros2_control_node[2026-06-02 21:29:08.716] [info] Accepted new action goal + 31.39sINFOros2_control_node[2026-06-02 21:29:11.751] [info] Received new action goal + 31.39sINFOros2_control_node[2026-06-02 21:29:11.751] [info] Accepted new action goal + 33.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 34.00sINFOobjective_server_nodePath shortcutter: [X________________X] + 34.06sINFOros2_control_node[2026-06-02 21:29:14.425] [info] Received new action goal + 34.06sINFOros2_control_node[2026-06-02 21:29:14.425] [info] Accepted new action goal + 44.89sINFOros2_control_node[2026-06-02 21:29:25.250] [info] Received new action goal + 44.89sINFOros2_control_node[2026-06-02 21:29:25.251] [info] Accepted new action goal + 46.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780435766.40734243 seconds ×2 + 46.77sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780435767.13506627 seconds. ×2 + 48.04sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). + 48.05sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 48.06sINFOros2_control_node[2026-06-02 21:29:28.419] [info] Received new action goal + 48.06sINFOros2_control_node[2026-06-02 21:29:28.420] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 33.0s | 2 errors · 68 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×3 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal + 28.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 28.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 28.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 28.29sINFOobjective_server_nodePath shortcutter: [X___________X] + 28.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 28.32sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 28.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 28.37sINFOobjective_server_nodeFound path in 1 iterations (0.0028945 s). + 28.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 28.52sINFOros2_control_node[2026-06-02 21:27:37.709] [info] Received new action goal + 28.52sINFOros2_control_node[2026-06-02 21:27:37.709] [info] Accepted new action goal + 31.04sINFOros2_control_node[2026-06-02 21:27:40.231] [info] Received new action goal + 31.04sINFOros2_control_node[2026-06-02 21:27:40.231] [info] Accepted new action goal + 32.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 32.80sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Received new action goal + 32.80sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Accepted new action goal + 34.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780435663.38222241 seconds ×2 + 34.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435663.97596550 seconds. ×2 + 34.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435664.00610256 seconds ×2 + 35.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435664.56647563 seconds. ×2 + 35.48sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 35.48sINFOobjective_server_nodePath shortcutter: [X_____________X] + 35.50sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Received new action goal + 35.51sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Accepted new action goal | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 32.0s | 178 errors · 6979 info |
+ 0.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 0.06sINFOobjective_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 ×4 + 0.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×4 + 1.18sERRORobjective_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 + 1.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780435815.73648310 seconds ×2 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.88sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780435816.43432236 seconds. ×2 + 1.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 2.05sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 2.05sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.06sINFOros2_control_node[2026-06-02 21:30:16.608] [info] Received new action goal + 2.06sINFOros2_control_node[2026-06-02 21:30:16.608] [info] Accepted new action goal + 5.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×4 + 5.56sINFOros2_control_node[2026-06-02 21:30:20.116] [info] Received new action goal + 5.56sINFOros2_control_node[2026-06-02 21:30:20.116] [info] Accepted new action goal + 8.00sINFOros2_control_node[2026-06-02 21:30:22.549] [info] Received new action goal + 8.00sINFOros2_control_node[2026-06-02 21:30:22.549] [info] Accepted new action goal + 15.93sINFOjoint_trajectory_controllerReceived new action goal ×1520 + 15.93sINFOjoint_trajectory_controllerAccepted new action goal ×1432 + 15.93sINFOros2_control_nodeReceived new action goal[0m ×1520 + 15.93sINFOros2_control_nodeAccepted new action goal[0m ×1432 + 18.82sINFOjoint_trajectory_controllerGoal reached, success! ×516 + 18.82sINFOros2_control_nodeGoal reached, success![0m ×516 + 19.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435833.910086) + 19.37sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435833.920087) + 19.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435833.910086)[0m + 19.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435833.920087)[0m + 19.38sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435833.930086) + 19.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435833.930086)[0m + 20.11sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435834.660087) + 20.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435834.660087)[0m + 20.18sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435834.730086) + 20.18sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435834.730086)[0m + 20.80sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435835.350086) ×2 + 20.80sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435835.350086)[0m ×2 + 21.55sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.100086) + 21.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.100086)[0m + 21.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.140086) ×2 + 21.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.140086)[0m ×2 + 21.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.160087) + 21.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.160087)[0m + 22.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.560086) + 22.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.560086)[0m + 22.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.780087) + 22.24sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.790087) + 22.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.780087)[0m + 22.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435836.790087)[0m + 22.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.440087) + 22.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.440087)[0m + 22.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.530087) + 22.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.530087)[0m + 23.00sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.540087) + 23.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.540087)[0m + 23.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.570086) + 23.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.570086)[0m + 23.04sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.590086) ×2 + 23.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435837.590086)[0m ×2 + 23.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.030087) + 23.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.030087)[0m + 23.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.040087) + 23.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.040087)[0m + 23.52sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.070086) + 23.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.070086)[0m + 23.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.230086) + 23.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.230086)[0m + 23.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.240087) + 23.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.250086) + 23.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.260087) + 23.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.240087)[0m + 23.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.250086)[0m + 23.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435838.260087)[0m + 24.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.010086) + 24.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.010086)[0m + 24.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.030087) + 24.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.030087)[0m + 25.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.740087) + 25.20sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.750086) + 25.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.740087)[0m + 25.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.750086)[0m + 25.21sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.760087) + 25.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.760087)[0m + 25.26sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.810086) + 25.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435839.810086)[0m + 25.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.510086) + 25.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.510086)[0m + 25.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.520087) + 25.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.520087)[0m + 25.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.540087) + 25.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.540087)[0m + 26.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.560086) + 26.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.560086)[0m + 26.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.690086) + 26.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.690086)[0m + 26.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.870086) + 26.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.870086)[0m + 26.34sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.890086) + 26.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435840.890086)[0m + 26.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.220087) + 26.68sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.230086) + 26.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.220087)[0m + 26.68sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.230086)[0m + 26.69sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.240087) + 26.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.240087)[0m + 26.71sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.260087) + 26.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.260087)[0m + 27.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.990086) ×2 + 27.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435841.990086)[0m ×2 + 27.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.010086) + 27.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.010086)[0m + 27.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.040087) + 27.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.050086) + 27.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.040087)[0m + 27.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.050086)[0m + 27.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.520087) + 27.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.520087)[0m + 28.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.710086) ×2 + 28.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.710086)[0m ×2 + 28.17sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.720087) + 28.17sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.720087)[0m + 28.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.740087) + 28.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.740087)[0m + 28.43sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.980087) + 28.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435842.980087)[0m + 28.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.490086) + 28.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.490086)[0m + 28.96sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.510086) + 28.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.510086)[0m + 28.98sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.530087) + 28.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.530087)[0m + 28.99sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.540087) + 28.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.540087)[0m + 29.08sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.630086) + 29.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435843.630086)[0m + 29.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.190086) ×2 + 29.65sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.200087) + 29.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.190086)[0m ×2 + 29.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.200087)[0m + 29.66sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.210086) + 29.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.210086)[0m + 30.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.900087) + 30.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.900087)[0m + 30.42sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.970086) + 30.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.970086)[0m + 30.44sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.990086) ×2 + 30.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.990086)[0m ×2 + 30.46sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.010086) + 30.46sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.010086)[0m + 30.48sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.030087) + 30.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.030087)[0m + 30.61sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.160087) + 30.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.160087)[0m + 30.97sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.520087) + 30.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.520087)[0m + 31.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.670086) + 31.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.670086)[0m + 31.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.680087) + 31.14sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.690086) ×2 + 31.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.680087)[0m + 31.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.690086)[0m ×2 + 31.19sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.740087) + 31.19sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.740087)[0m + 31.88sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.430086) + 31.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.430086)[0m + 31.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.440087) + 31.90sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.450086) + 31.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.440087)[0m + 31.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.450086)[0m + 31.94sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.490086) ×2 + 31.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.490086)[0m ×2 + 32.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.130086) + 32.59sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.140086) ×2 + 32.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.130086)[0m + 32.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.140086)[0m ×2 + 32.62sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.160087) + 32.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.160087)[0m + 33.20sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780435847.75928736 seconds ×2 + 33.25sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.800086) + 33.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.800086)[0m + 33.27sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.820086) + 33.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.820086)[0m + 33.87sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780435848.42801476 seconds. ×2 + 33.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 33.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 35.05sINFOobjective_server_nodeFound path in 6 iterations (0.00586929 s). + 35.11sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 35.12sINFOros2_control_node[2026-06-02 21:30:49.674] [info] Received new action goal + 35.12sINFOros2_control_node[2026-06-02 21:30:49.674] [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 | 31.9s | 4 errors · 7389 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780435778.12523460 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780435778.71176076 seconds. ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-02 21:29:38.845] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-02 21:29:38.845] [info] Accepted new action goal + 2.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.05sINFOobjective_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 + 2.95sERRORobjective_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. ×4 + 2.96sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×5 + 5.39sINFOjoint_trajectory_controllerReceived new action goal ×1834 + 5.39sINFOjoint_trajectory_controllerAccepted new action goal ×1834 + 5.39sINFOros2_control_nodeReceived new action goal[0m ×1834 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×1834 + 10.12sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 10.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 23.61sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 3:10.005 of wall time (407/57830). Below 1% is expected on a non-realtime system.[0m + 31.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780435810.04786396 seconds ×2 + 32.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780435810.64229512 seconds. ×2 + 32.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 32.68sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 32.69sINFOobjective_server_nodePath shortcutter: [X_______________________X] + 32.70sINFOros2_control_node[2026-06-02 21:30:10.827] [info] Received new action goal + 32.70sINFOros2_control_node[2026-06-02 21:30:10.827] [info] Accepted new action goal | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.0s | 48 errors · 1253 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×242 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×218 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×242 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×218 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×121 + 0.02sINFOros2_control_nodeGoal reached, success![0m ×121 + 0.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.900087) + 0.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.900087)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.970086) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.970086)[0m + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.990086) ×2 + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.990086)[0m ×2 + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.010086) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.010086)[0m + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.030087) + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.030087)[0m + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.160087) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.160087)[0m + 0.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.520087) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.520087)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.670086) + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.670086)[0m + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.680087) + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.690086) ×2 + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.680087)[0m + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.690086)[0m ×2 + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.740087) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.740087)[0m + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.430086) + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.430086)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.440087) + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.450086) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.440087)[0m + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.450086)[0m + 1.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.490086) ×2 + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.490086)[0m ×2 + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.130086) + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.140086) ×2 + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.130086)[0m + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.140086)[0m ×2 + 2.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.160087) + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.160087)[0m + 3.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780435847.75928736 seconds ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.800086) + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.800086)[0m + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.820086) + 3.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.820086)[0m + 3.76sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780435848.42801476 seconds. ×2 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.93sINFOobjective_server_nodeFound path in 6 iterations (0.00586929 s). + 4.99sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.00sINFOros2_control_node[2026-06-02 21:30:49.674] [info] Received new action goal + 5.00sINFOros2_control_node[2026-06-02 21:30:49.674] [info] Accepted new action goal + 14.32sINFOobjective_server_node[0;m[0;93m2026-06-02 21:30:58.994405318 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.32sINFOobjective_server_node[0;93m2026-06-02 21:30:58.994446828 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.79sINFOobjective_server_node[0;93m2026-06-02 21:30:59.459007426 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.79sINFOobjective_server_node[0;93m2026-06-02 21:30:59.459055707 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.91sINFOobjective_server_node[0;93m2026-06-02 21:30:59.582695658 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 14.91sINFOobjective_server_node[0;93m2026-06-02 21:30:59.585414434 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 14.91sINFOobjective_server_node[0;93m2026-06-02 21:30:59.585457974 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 15.30sINFOobjective_server_node[0;93m2026-06-02 21:30:59.966599429 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 15.31sINFOobjective_server_node[0;93m2026-06-02 21:30:59.986215562 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 15.32sINFOobjective_server_node[0;93m2026-06-02 21:30:59.986263183 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 16.37sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 17.07sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.72% of iterations over budget over 4:10.005 of wall time (548/76059). Below 1% is expected on a non-realtime system.[0m + 19.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 19.71sINFOobjective_server_nodeFound path in 4 iterations (0.00268989 s). + 19.78sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] + 19.81sINFOobjective_server_nodeFound path in 12 iterations (0.00517138 s). + 19.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] + 19.89sINFOobjective_server_nodeFound path in 1 iterations (0.0025005 s). + 19.94sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] + 19.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 19.99sINFOobjective_server_nodePath shortcutter: [X____________________________________X] + 20.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] + 20.07sINFOobjective_server_nodeFound path in 12 iterations (0.00632869 s). + 20.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] + 20.14sINFOobjective_server_nodeFound path in 1 iterations (0.00453811 s). + 20.20sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] + 20.22sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 20.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] + 20.27sINFOobjective_server_nodeFound path in 4 iterations (0.00432992 s). + 20.35sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] + 20.38sINFOobjective_server_nodeFound path in 4 iterations (0.00280844 s). + 20.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] + 20.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 20.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] + 20.57sINFOobjective_server_nodeFound path in 1 iterations (0.00593627 s). + 20.63sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] + 20.65sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 20.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 20.73sINFOobjective_server_nodeFound path in 1 iterations (0.00253624 s). + 20.79sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] + 20.81sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 20.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] + 20.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X] + 20.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 20.97sINFOros2_control_node[2026-06-02 21:31:05.644] [info] Received new action goal + 20.97sINFOros2_control_node[2026-06-02 21:31:05.644] [info] Accepted new action goal + 25.99sINFOros2_control_node[2026-06-02 21:31:10.657] [info] Received new action goal + 25.99sINFOros2_control_node[2026-06-02 21:31:10.657] [info] Accepted new action goal + 27.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 27.58sINFOros2_control_node[2026-06-02 21:31:12.249] [info] Received new action goal + 27.58sINFOros2_control_node[2026-06-02 21:31:12.249] [info] Accepted new action goal + 28.79sINFOobjective_server_nodePlanning for 4 path waypoints. ×2 + 28.84sINFOros2_control_node[2026-06-02 21:31:13.511] [info] Received new action goal + 28.84sINFOros2_control_node[2026-06-02 21:31:13.511] [info] Accepted new action goal + 34.10sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780435878.77638221 seconds ×2 + 34.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780435879.43447208 seconds. ×2 + 35.00sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 35.00sINFOobjective_server_nodePath shortcutter: [X______X] + 35.01sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Received new action goal + 35.01sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Accepted new action goal | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 2 errors · 57 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.08sINFOobjective_server_nodeFound path in 1 iterations (0.00267403 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.21sINFOros2_control_node[2026-06-02 21:28:15.628] [info] Received new action goal + 0.21sINFOros2_control_node[2026-06-02 21:28:15.628] [info] Accepted new action goal + 0.66sINFOros2_control_node[2026-06-02 21:28:16.069] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-02 21:28:16.070] [info] Accepted new action goal + 1.33sINFOros2_control_node[2026-06-02 21:28:16.739] [info] Got request to cancel active goal. + 1.33sINFOros2_control_node[2026-06-02 21:28:16.739] [info] Canceling active goal... + 1.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780435696.76086974 seconds ×2 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780435697.38211918 seconds. ×2 + 2.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.13sINFOros2_control_node[2026-06-02 21:28:17.545] [info] Received new action goal + 2.13sINFOros2_control_node[2026-06-02 21:28:17.545] [info] Accepted new action goal + 4.60sINFOros2_control_node[2026-06-02 21:28:20.008] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-02 21:28:20.008] [info] Accepted new action goal + 13.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780435708.57127190 seconds ×2 + 13.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780435709.14139462 seconds. ×2 + 13.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 13.78sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 13.80sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435709.21167994 seconds ×2 + 14.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435709.76446867 seconds. ×2 + 14.46sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 14.46sINFOobjective_server_nodePath shortcutter: [X______X] + 14.48sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Received new action goal + 14.48sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Accepted new action goal + 16.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435711.89459658 seconds ×2 + 17.25sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435712.66838455 seconds. ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 2 errors · 50 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 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.94sINFOros2_control_node[2026-06-02 21:29:25.250] [info] Received new action goal + 0.94sINFOros2_control_node[2026-06-02 21:29:25.251] [info] Accepted new action goal + 2.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780435766.40734243 seconds ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780435767.13506627 seconds. ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). + 4.10sINFOobjective_server_nodePath shortcutter: [X__________________________X] + 4.11sINFOros2_control_node[2026-06-02 21:29:28.419] [info] Received new action goal + 4.11sINFOros2_control_node[2026-06-02 21:29:28.420] [info] Accepted new action goal + 7.81sINFOobjective_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 (3.5e-07 s). + 10.20sINFOobjective_server_nodePath shortcutter: [X________________________X] + 10.21sINFOros2_control_node[2026-06-02 21:29:34.520] [info] Received new action goal + 10.21sINFOros2_control_node[2026-06-02 21:29:34.520] [info] Accepted new action goal + 13.81sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780435778.12523460 seconds ×2 + 14.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780435778.71176076 seconds. ×2 + 14.52sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 14.52sINFOobjective_server_nodePath shortcutter: [X___X] + 14.53sINFOros2_control_node[2026-06-02 21:29:38.845] [info] Received new action goal + 14.53sINFOros2_control_node[2026-06-02 21:29:38.845] [info] Accepted new action goal + 15.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 15.82sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 16.77sERRORobjective_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 + 16.78sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 4 errors · 64 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780435685.74124503 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780435686.33824348 seconds. ×2 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] + 0.79sINFOros2_control_node[2026-06-02 21:28:06.532] [info] Received new action goal + 0.79sINFOros2_control_node[2026-06-02 21:28:06.532] [info] Accepted new action goal + 6.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.12sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×3 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________X] + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). + 6.41sINFOobjective_server_nodePath shortcutter: [X________________X] + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 6.46sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 6.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 6.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 6.56sINFOobjective_server_nodeFound path in 1 iterations (0.00290939 s). + 6.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 6.67sINFOobjective_server_nodeFound path in 1 iterations (0.00376883 s). + 6.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 6.88sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 6.92sINFOros2_control_node[2026-06-02 21:28:12.665] [info] Received new action goal + 6.92sINFOros2_control_node[2026-06-02 21:28:12.665] [info] Accepted new action goal + 9.67sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 9.67sINFOobjective_server_nodePath shortcutter: [X_X] + 9.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 9.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 9.75sINFOobjective_server_nodeFound path in 1 iterations (0.00267403 s). + 9.85sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 9.89sINFOros2_control_node[2026-06-02 21:28:15.628] [info] Received new action goal + 9.89sINFOros2_control_node[2026-06-02 21:28:15.628] [info] Accepted new action goal + 10.33sINFOros2_control_node[2026-06-02 21:28:16.069] [info] Received new action goal + 10.33sINFOros2_control_node[2026-06-02 21:28:16.070] [info] Accepted new action goal + 11.00sINFOros2_control_node[2026-06-02 21:28:16.739] [info] Got request to cancel active goal. + 11.00sINFOros2_control_node[2026-06-02 21:28:16.739] [info] Canceling active goal... + 11.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780435696.76086974 seconds ×2 + 11.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780435697.38211918 seconds. ×2 + 11.81sINFOros2_control_node[2026-06-02 21:28:17.545] [info] Received new action goal + 11.81sINFOros2_control_node[2026-06-02 21:28:17.545] [info] Accepted new action goal + 14.27sINFOros2_control_node[2026-06-02 21:28:20.008] [info] Received new action goal + 14.27sINFOros2_control_node[2026-06-02 21:28:20.008] [info] Accepted new action goal | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 4 errors · 32 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 13.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780435900.73769474 seconds ×2 + 13.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780435901.32880735 seconds. ×2 + 13.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 13.95sINFOobjective_server_nodePath shortcutter: [X________________X] + 13.96sINFOros2_control_node[2026-06-02 21:31:41.584] [info] Received new action goal + 13.96sINFOros2_control_node[2026-06-02 21:31:41.584] [info] Accepted new action goal | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 4 errors · 33 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal + 9.11sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 1:10.003 of wall time (116/21344). Below 1% is expected on a non-realtime system.[0m + 13.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780435685.74124503 seconds ×2 + 13.71sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780435686.33824348 seconds. ×2 + 13.90sINFOros2_control_node[2026-06-02 21:28:06.532] [info] Received new action goal + 13.91sINFOros2_control_node[2026-06-02 21:28:06.532] [info] Accepted new action goal | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 2 errors · 44 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780435911.18267250 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780435911.74635625 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 (4.5e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-02 21:31:51.860] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-02 21:31:51.860] [info] Accepted new action goal + 2.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 + 10.56sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 10.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 11.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 11.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 11.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 11.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 12.23sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 12.26sINFOobjective_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 + 12.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 12.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 12.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 12.94sINFOobjective_server_nodePath shortcutter: [X___X] + 12.94sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 12.94sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 2 errors · 56 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×3 + 0.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780435878.77638221 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780435879.43447208 seconds. ×2 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 1.80sINFOobjective_server_nodePath shortcutter: [X______X] + 1.81sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Received new action goal + 1.81sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Accepted new action goal + 6.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 7.03sINFOobjective_server_nodePath shortcutter: [X___________X] + 7.04sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). + 7.04sINFOobjective_server_nodePath shortcutter: [X_________________X] + 7.05sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 7.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 7.10sINFOobjective_server_nodeFound path in 1 iterations (0.00265986 s). + 7.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 7.20sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×2 + 7.23sINFOros2_control_node[2026-06-02 21:31:25.101] [info] Received new action goal + 7.23sINFOros2_control_node[2026-06-02 21:31:25.101] [info] Accepted new action goal + 9.75sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 9.75sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 11.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 11.55sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 11.55sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 11.78sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 11.78sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 11.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 12.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 12.62sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 12.62sINFOobjective_server_nodePath shortcutter: [X________X] + 12.66sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 12.66sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 14.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 4 errors · 2 warnings · 61 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal + 5.68sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×2 + 5.68sINFOros2_control_node[2026-06-02 21:32:07.425] [info] Received new action goal + 5.69sINFOros2_control_node[2026-06-02 21:32:07.425] [info] Accepted new action goal + 5.69sINFOros2_control_node[2026-06-02 21:32:07.425] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 + 12.40sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Got request to cancel active goal. + 12.40sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Canceling active goal... + 12.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780435934.14650822 seconds ×2 + 12.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435934.72728181 seconds. ×2 + 14.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435936.40742445 seconds ×2 + 15.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435936.96088648 seconds. ×2 + 15.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 15.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×2 + 15.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 15.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435936.96251631 seconds ×2 + 15.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435937.51853275 seconds. ×2 + 15.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435937.51895714 seconds ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 2 errors · 80 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×7 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×7 + 0.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 0.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 1.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 1.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 1.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 1.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 1.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 1.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 1.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 2.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 2.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 2.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 2.70sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 2.70sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.72sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 2.72sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 4.77sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). 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 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×8 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 5.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 5.26sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 5.26sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 9.01sINFOros2_control_node[2026-06-02 21:27:05.970] [info] Received new action goal + 9.01sINFOros2_control_node[2026-06-02 21:27:05.970] [info] Accepted new action goal + 12.32sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 12.32sINFOobjective_server_nodePath shortcutter: [X_________________X] + 12.33sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 12.33sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 12.68sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 12.68sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 12.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 13.25sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 13.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 13.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 15.13sINFOobjective_server_nodePath shortcutter: [X______X] + 15.14sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 15.14sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 2 errors · 56 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780435663.38222241 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435663.97596550 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435664.00610256 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435664.56647563 seconds. ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Received new action goal + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Accepted new action goal + 6.40sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×3 + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Received new action goal + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Accepted new action goal + 8.75sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 8.75sINFOros2_control_node[2026-06-02 21:27:50.378] [info] Received new action goal + 8.75sINFOros2_control_node[2026-06-02 21:27:50.378] [info] Accepted new action goal + 11.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 11.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 11.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 13.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 13.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 13.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 13.68sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 14.82sINFOobjective_server_nodePath shortcutter: [X______X] + 14.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 14.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 24 errors · 2 warnings · 142 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435934.72728181 seconds. ×2 + 1.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435936.40742445 seconds ×2 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 1.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 2.23sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435936.96088648 seconds. ×2 + 2.23sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.23sINFOobjective_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 + 2.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435936.96251631 seconds ×2 + 2.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435937.51853275 seconds. ×2 + 2.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435937.51895714 seconds ×2 + 3.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780435938.07486653 seconds. ×2 + 4.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780435938.85504508 seconds ×2 + 4.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 9.77sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.77sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.77sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.78sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.79sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.79sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' + 9.79sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] + 9.79sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] + 9.80sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] + 9.81sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] + 9.82sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] + 9.83sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] + 9.83sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] + 9.84sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] + 9.86sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] + 9.87sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] + 9.87sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] + 9.88sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] + 9.89sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] + 9.91sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] + 9.91sINFOcontroller_managerShutdown request received.... + 9.91sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.91sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.91sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.91sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.91sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.91sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m + 9.91sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.91sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.91sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.91sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.91sINFOrosbridge_websocketExiting due to SIGINT + 9.91sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.91sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.91sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.91sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.91sINFOcontroller_managerShutting down the controller manager. + 9.91sERRORrosapi_nodeTraceback (most recent call last): + 9.91sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> + 9.91sINFOrosapi_nodemain() + 9.91sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main + 9.91sINFOrosapi_noderclpy.spin(node) + 9.91sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin + 9.91sINFOrosapi_nodeexecutor.spin_once() + 9.91sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once + 9.91sINFOrosapi_nodeself._spin_once_impl(timeout_sec) + 9.91sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl + 9.91sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) + 9.91sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks + 9.91sINFOrosapi_nodereturn next(self._cb_iter) + 9.91sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks + 9.91sINFOrosapi_noderaise ExternalShutdownException() + 9.91sINFOrosapi_noderclpy.executors.ExternalShutdownException + 9.91sERRORui_teleop_bridgeTraceback (most recent call last): + 9.91sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> + 9.91sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) + 9.92sINFOui_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 + 9.92sINFOui_teleop_bridgerclpy.shutdown() + 9.92sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown + 9.92sINFOui_teleop_bridge_shutdown(context=context) + 9.92sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown + 9.92sINFOui_teleop_bridgereturn context.shutdown() + 9.92sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown + 9.92sINFOui_teleop_bridgeself.__context.shutdown() + 9.92sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 + 9.92sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m + 9.92sINFOros2_control_nodeShutdown request received....[0m + 9.92sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m + 9.92sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m + 9.92sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m + 9.92sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m + 9.92sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m + 9.92sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m + 9.92sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m + 9.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m + 9.92sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m + 9.92sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m + 9.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m + 9.92sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m + 9.92sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m + 9.92sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m + 9.92sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m + 9.92sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m + 9.92sINFOros2_control_nodeShutting down the controller manager.[0m + 9.98sINFOobjective_server_node[0;m[2026-06-02 21:32:24.702] [moveit_pro_license] [info] + 9.98sINFOobjective_server_node************************************************* ×2 + 9.98sINFOobjective_server_node* MoveIt Pro License + 9.98sINFOobjective_server_node* Application has successfully terminated + 10.01sINFOtf2_web_republisher_node-20process has finished cleanly [pid 23898] + 10.01sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system + 10.01sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 + 10.01sINFOweb_video_server-21process has finished cleanly [pid 23930] + 10.04sINFOobjective_server_nodecorrupted double-linked list + 10.04sERRORobjective_server_nodeStack trace (most recent call last): + 10.06sINFOobjective_server_node#19 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in + 10.06sINFOobjective_server_node#18 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561fe99cd4e4, in _start + 10.06sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0653cbe3f, in __libc_start_main + 10.06sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0653cbd96, in + 10.06sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0653e760f, in exit + 10.06sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0653e7494, in + 10.06sINFOobjective_server_node#13 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7fa017969cd3, in Ort::detail::Base<OrtEnv>::~Base() + 10.06sINFOobjective_server_node#12 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fa0167e6144, in + 10.06sINFOobjective_server_node#11 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fa01684a721, in + 10.06sINFOobjective_server_node#10 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fa016ea4cf6, in + 10.06sINFOobjective_server_node#9 Object "/usr/local/lib/python3.10/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7fa016ea4bf1, in + 10.06sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa065447452, in free + 10.06sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa065444e9f, in + 10.06sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa06544391a, in + 10.06sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0654437cb, in + 10.06sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa065442cfb, in + 10.06sERRORui_teleop_bridge-17process has died [pid 23892, 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_1mo90wqj']. + 10.06sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa06542b676, in + 10.06sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0653ca7f2, in abort + 10.06sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0653e4475, in raise + 10.06sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa0654389fc, in pthread_kill + 10.06sERRORobjective_server_nodeAborted (Signal sent by tkill() 23886 0) + 10.08sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 23884] + 10.09sINFOrosbridge_websocket-19process has finished cleanly [pid 23896] + 10.09sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system + 10.09sINFOexecute_objective_bridge-16process has finished cleanly [pid 23890] + 10.10sERRORrosapi_node-18process has died [pid 23894, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params__2tnfb_n']. + 10.73sERRORobjective_server_node_main-14process has died [pid 23886, 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_riri60ua --params-file /tmp/launch_params_p6elsnj0 --params-file /tmp/launch_params_fiel771y --params-file /tmp/launch_params_x3tdc5iw --params-file /tmp/launch_params_h0aq_pz0 --params-file /tmp/launch_params_iusdhpns']. + 10.73sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system + 10.92sINFOmove_joint_resampler_node-12process has finished cleanly [pid 23882] + 10.94sINFOparameter_manager_node-10process has finished cleanly [pid 23841] + 10.95sINFOwaypoint_manager_node-11process has finished cleanly [pid 23880] + 10.99sINFOcomponent_container_mt-15process has finished cleanly [pid 23888] + 11.23sINFOmove_group-9process has finished cleanly [pid 23838] + 12.34sINFOros2_control_node-1process has finished cleanly [pid 23819] | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 2 errors · 26 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780435900.73769474 seconds ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780435901.32880735 seconds. ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.84sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.85sINFOros2_control_node[2026-06-02 21:31:41.584] [info] Received new action goal + 0.85sINFOros2_control_node[2026-06-02 21:31:41.584] [info] Accepted new action goal + 4.86sINFOros2_control_node[2026-06-02 21:31:45.597] [info] Received new action goal + 4.86sINFOros2_control_node[2026-06-02 21:31:45.597] [info] Accepted new action goal + 10.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780435911.18267250 seconds ×2 + 11.01sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780435911.74635625 seconds. ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 11.12sINFOobjective_server_nodePath shortcutter: [X________X] + 11.12sINFOros2_control_node[2026-06-02 21:31:51.860] [info] Received new action goal + 11.12sINFOros2_control_node[2026-06-02 21:31:51.860] [info] Accepted new action goal + 13.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.3s | 67 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780435709.14139462 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435709.21167994 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435709.76446867 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435711.89459658 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435712.66838455 seconds. ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.65sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Accepted new action goal + 8.81sINFOobjective_server_node[0;93m2026-06-02 21:28:37.953838525 [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 + 8.81sINFOobjective_server_node[0;93m2026-06-02 21:28:37.953873395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.35sINFOobjective_server_node[0;93m2026-06-02 21:28:38.490906372 [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 + 9.35sINFOobjective_server_node[0;93m2026-06-02 21:28:38.490943913 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.49sINFOobjective_server_node[0;93m2026-06-02 21:28:38.628281555 [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 + 9.49sINFOobjective_server_node[0;93m2026-06-02 21:28:38.630895919 [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 + 9.49sINFOobjective_server_node[0;93m2026-06-02 21:28:38.630934560 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 9.85sINFOobjective_server_node[0;93m2026-06-02 21:28:38.993617863 [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 + 9.87sINFOobjective_server_node[0;93m2026-06-02 21:28:39.011064472 [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 + 9.87sINFOobjective_server_node[0;93m2026-06-02 21:28:39.011116563 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 11.22sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 11.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 12.42sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 12.42sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 12.92sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 12.92sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.05sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 13.05sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 13.05sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 13.36sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [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 + 13.38sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [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 + 13.38sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 14.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 14.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 14.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.88sINFOros2_control_nodeReceived & accepted new action goal[0m + 14.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×2 + 14.97sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 5.7s | 2 errors · 1155 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×281 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×281 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×281 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×281 + 3.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780435810.04786396 seconds ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m + 3.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780435810.64229512 seconds. ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 3.85sINFOobjective_server_nodePath shortcutter: [X_______________________X] + 3.86sINFOros2_control_node[2026-06-02 21:30:10.827] [info] Received new action goal + 3.86sINFOros2_control_node[2026-06-02 21:30:10.827] [info] Accepted new action goal + 7.59sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 7.65sINFOobjective_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 + 7.67sINFOobjective_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 + 8.77sERRORobjective_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 + 8.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780435815.73648310 seconds ×2 + 9.47sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780435816.43432236 seconds. ×2 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 9.64sINFOobjective_server_nodePath shortcutter: [X_______X] + 9.64sINFOros2_control_node[2026-06-02 21:30:16.608] [info] Received new action goal + 9.64sINFOros2_control_node[2026-06-02 21:30:16.608] [info] Accepted new action goal | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.0s | 46 info |
+ 0.00sINFOobjective_server_node[0;93m2026-06-02 21:28:37.953838525 [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;93m2026-06-02 21:28:37.953873395 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.54sINFOobjective_server_node[0;93m2026-06-02 21:28:38.490906372 [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 + 0.54sINFOobjective_server_node[0;93m2026-06-02 21:28:38.490943913 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 0.67sINFOobjective_server_node[0;93m2026-06-02 21:28:38.628281555 [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 + 0.68sINFOobjective_server_node[0;93m2026-06-02 21:28:38.630895919 [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 + 0.68sINFOobjective_server_node[0;93m2026-06-02 21:28:38.630934560 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.04sINFOobjective_server_node[0;93m2026-06-02 21:28:38.993617863 [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 + 1.06sINFOobjective_server_node[0;93m2026-06-02 21:28:39.011064472 [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 + 1.06sINFOobjective_server_node[0;93m2026-06-02 21:28:39.011116563 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.41sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 3.60sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 3.60sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.11sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 4.11sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.23sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 4.24sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 4.24sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 4.55sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [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 + 4.56sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [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 + 4.56sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 5.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 6.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 6.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.07sINFOros2_control_nodeReceived & accepted new action goal[0m + 6.14sINFOobjective_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 + 6.16sINFOobjective_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 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 6.45sINFOobjective_server_nodePath shortcutter: [X____________X] + 6.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 6.48sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Received new action goal + 6.48sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Accepted new action goal | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780435708.57127190 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 `Load MuJoCo Robot State` starting at time: 1780435709.14139462 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435709.21167994 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435709.76446867 seconds. ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 1.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.32sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Received new action goal + 1.32sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Accepted new action goal + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435711.89459658 seconds ×2 + 4.10sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435712.66838455 seconds. ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.22sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Accepted new action goal | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.3s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780435934.14650822 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435934.72728181 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435936.40742445 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435936.96088648 seconds. ×2 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435936.96251631 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435937.51853275 seconds. ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435937.51895714 seconds ×2 + 3.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780435938.07486653 seconds. ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780435938.85504508 seconds ×2 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 12 warnings · 177 info |
+ 0.00sINFOobjective_server_node[2026-06-02 21:26:51.300] [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) + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' + 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 + 0.33sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader + 0.33sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader + 0.33sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader + 0.41sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m + 0.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m + 0.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m + 0.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m + 0.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m + 0.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m + 0.42sINFOcontroller_managerupdate rate is 600 Hz + 0.42sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.42sWARNcontroller_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. + 0.42sINFOros2_control_nodeupdate rate is 600 Hz[0m + 0.42sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m + 0.42sWARNros2_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 + 0.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m + 0.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m + 0.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m + 0.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.68sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.68sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m + 0.68sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.69sINFOobjective_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. + 0.69sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 0.70sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.70sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m + 0.70sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m + 0.71sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.74sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. + 0.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.74sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m + 0.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m + 0.74sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.82sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m + 0.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.82sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.82sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m + 0.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×3 + 0.91sINFOros2_control_node[2026-06-02 21:26:52.207] [info] Controller state will be published at 20 Hz. + 0.91sINFOros2_control_node[2026-06-02 21:26:52.209] [info] JointVelocityController 'on_configure' succeeded. + 0.91sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' + 0.91sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.91sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m + 0.91sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' + 0.91sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m + 0.91sINFOros2_control_node[2026-06-02 21:26:52.212] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.91sINFOros2_control_node[2026-06-02 21:26:52.212] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 0.95sINFOros2_control_node[2026-06-02 21:26:52.250] [info] First order lag filter time constant set to: 0.2 seconds + 0.95sINFOros2_control_node[2026-06-02 21:26:52.250] [info] Controller state will be published at 50 Hz. + 0.96sINFOros2_control_node[2026-06-02 21:26:52.255] [info] Registered `FollowJointTrajectory` action server. + 0.96sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.96sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.96sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.96sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m + 0.96sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m + 0.96sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m + 0.96sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m + 0.96sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' + 0.96sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.96sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.96sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m + 0.96sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. + 0.96sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m + 0.96sINFOros2_control_nodeUsing 'splines' interpolation method.[0m + 0.96sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m + 0.96sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m + 0.97sINFOcontroller_managerConfiguring controller 'velocity_force_controller' + 0.97sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m + 1.01sINFOros2_control_node[2026-06-02 21:26:52.311] [info] Controller state will be published at 10 Hz. + 1.01sINFOros2_control_node[2026-06-02 21:26:52.312] [info] VelocityForceController 'on_configure' succeeded. + 1.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.02sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m + 1.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m + 1.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m + 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 + 1.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m + 1.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23835] + 1.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m + 1.25sWARNobjective_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/. + 1.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m + 1.29sINFOmove_group ×2 + 1.29sINFOmove_group[92mYou can start planning now![0m + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 23829] + 1.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23825] + 1.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23827] + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 23823] + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23832] + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23821] + 1.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780435613.67494226 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780435613.68509722 seconds ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780435614.23569059 seconds. ×2 + 2.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 4.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 5.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 6.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 6.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 7.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 7.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 7.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 7.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 7.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 7.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 8.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 8.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 58 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780435613.67494226 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780435613.68509722 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780435614.23569059 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 6.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 6.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 6.60sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.62sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 6.62sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 2 errors · 26 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 (3.2e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 33 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780435708.57127190 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 `Load MuJoCo Robot State` starting at time: 1780435709.14139462 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435709.21167994 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435709.76446867 seconds. ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 1.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.32sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Received new action goal + 1.32sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Accepted new action goal + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435711.89459658 seconds ×2 + 4.10sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435712.66838455 seconds. ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 4.22sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Received new action goal + 4.22sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Accepted new action goal | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.6s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780435663.38222241 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435663.97596550 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435664.00610256 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435664.56647563 seconds. ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Received new action goal + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Accepted new action goal + 6.40sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Received new action goal + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Accepted new action goal | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780435934.14650822 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435934.72728181 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435936.40742445 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435936.96088648 seconds. ×2 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435936.96251631 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435937.51853275 seconds. ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435937.51895714 seconds ×2 + 3.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780435938.07486653 seconds. ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780435938.85504508 seconds ×2 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 2 errors · 2 warnings · 30 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780435934.14650822 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435934.72728181 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435936.40742445 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435936.96088648 seconds. ×2 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435936.96251631 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435937.51853275 seconds. ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435937.51895714 seconds ×2 + 3.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780435938.07486653 seconds. ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780435938.85504508 seconds ×2 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.2s | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780435709.14139462 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435709.21167994 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435709.76446867 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435711.89459658 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435712.66838455 seconds. ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.65sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Accepted new action goal | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.1s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.1s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 2 errors · 26 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 (3.2e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 2 errors · 26 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 (3.2e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 2 errors · 26 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 (3.2e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 2 errors · 26 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 (3.2e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 2 errors · 26 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 (3.2e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 2 errors · 26 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 (3.2e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________X] + 0.11sINFOros2_control_node[2026-06-02 21:27:09.299] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:09.300] [info] Accepted new action goal + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Got request to cancel active goal. + 0.45sINFOros2_control_node[2026-06-02 21:27:09.641] [info] Canceling active goal... + 0.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435629.65121913 seconds ×2 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.47sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 1.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435630.21289587 seconds. ×2 + 1.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435630.33317804 seconds ×2 + 1.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435630.91203380 seconds. ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m + 2.90sINFOobjective_server_nodePath shortcutter: [X______X] + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Received new action goal + 2.91sINFOros2_control_node[2026-06-02 21:27:12.105] [info] Accepted new action goal | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780435663.38222241 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435663.97596550 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435664.00610256 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435664.56647563 seconds. ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Received new action goal + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Accepted new action goal + 6.40sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Received new action goal + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Accepted new action goal | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780435663.38222241 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435663.97596550 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435664.00610256 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435664.56647563 seconds. ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Received new action goal + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Accepted new action goal + 6.40sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Received new action goal + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Accepted new action goal | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780435663.38222241 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435663.97596550 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435664.00610256 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435664.56647563 seconds. ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Received new action goal + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Accepted new action goal + 6.40sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Received new action goal + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Accepted new action goal | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 30 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Received new action goal + 0.37sINFOros2_control_node[2026-06-02 21:27:41.996] [info] Accepted new action goal + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780435663.38222241 seconds ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435663.97596550 seconds. ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435664.00610256 seconds ×2 + 2.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435664.56647563 seconds. ×2 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 3.05sINFOobjective_server_nodePath shortcutter: [X_____________X] + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Received new action goal + 3.07sINFOros2_control_node[2026-06-02 21:27:44.691] [info] Accepted new action goal + 6.40sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Received new action goal + 6.41sINFOros2_control_node[2026-06-02 21:27:48.030] [info] Accepted new action goal | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Received new action goal + 0.11sINFOros2_control_node[2026-06-02 21:27:52.733] [info] Accepted new action goal + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Got request to cancel active goal. + 2.01sINFOros2_control_node[2026-06-02 21:27:54.637] [info] Canceling active goal... + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435674.65221095 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435675.30089378 seconds. ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Received new action goal + 3.83sINFOros2_control_node[2026-06-02 21:27:56.458] [info] Accepted new action goal | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 2 errors · 28 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 0.08sINFOobjective_server_nodeFound path in 1 iterations (0.00267403 s). + 0.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.21sINFOros2_control_node[2026-06-02 21:28:15.628] [info] Received new action goal + 0.21sINFOros2_control_node[2026-06-02 21:28:15.628] [info] Accepted new action goal + 0.66sINFOros2_control_node[2026-06-02 21:28:16.069] [info] Received new action goal + 0.66sINFOros2_control_node[2026-06-02 21:28:16.070] [info] Accepted new action goal + 1.33sINFOros2_control_node[2026-06-02 21:28:16.739] [info] Got request to cancel active goal. + 1.33sINFOros2_control_node[2026-06-02 21:28:16.739] [info] Canceling active goal... + 1.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780435696.76086974 seconds ×2 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780435697.38211918 seconds. ×2 + 2.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 2.13sINFOros2_control_node[2026-06-02 21:28:17.545] [info] Received new action goal + 2.13sINFOros2_control_node[2026-06-02 21:28:17.545] [info] Accepted new action goal + 4.60sINFOros2_control_node[2026-06-02 21:28:20.008] [info] Received new action goal + 4.60sINFOros2_control_node[2026-06-02 21:28:20.008] [info] Accepted new action goal | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780435708.57127190 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 `Load MuJoCo Robot State` starting at time: 1780435709.14139462 seconds. ×2 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435709.21167994 seconds ×2 + 1.19sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435709.76446867 seconds. ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 1.31sINFOobjective_server_nodePath shortcutter: [X______X] + 1.32sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Received new action goal + 1.32sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Accepted new action goal + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435711.89459658 seconds ×2 + 4.10sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435712.66838455 seconds. ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 29 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780435709.14139462 seconds. ×2 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 0.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×3 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435709.21167994 seconds ×2 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435709.76446867 seconds. ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.75sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Received new action goal + 0.75sINFOros2_control_node[2026-06-02 21:28:29.890] [info] Accepted new action goal + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435711.89459658 seconds ×2 + 3.53sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435712.66838455 seconds. ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 3.65sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Received new action goal + 3.65sINFOros2_control_node[2026-06-02 21:28:32.792] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.82sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.14sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.96sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_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 + 3.75sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Accepted new action goal | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.82sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.14sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.96sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_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 + 3.75sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.82sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.14sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.96sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_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 + 3.75sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Accepted new action goal | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.82sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.14sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.96sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_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 + 3.75sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Accepted new action goal | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435720.36473179 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435720.97593212 seconds. ×2 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557904641 [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 + 1.19sINFOobjective_server_node[0;93m2026-06-02 21:28:41.557946472 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059475059 [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 + 1.70sINFOobjective_server_node[0;93m2026-06-02 21:28:42.059512200 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 1.82sINFOobjective_server_node[0;93m2026-06-02 21:28:42.187661253 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190005481 [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 + 1.83sINFOobjective_server_node[0;93m2026-06-02 21:28:42.190034992 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.14sINFOobjective_server_node[0;93m2026-06-02 21:28:42.503577296 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516550662 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m + 2.15sINFOobjective_server_node[0;93m2026-06-02 21:28:42.516581573 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 2.96sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435723.32818270 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435724.01803231 seconds. ×2 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m + 3.73sINFOobjective_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 + 3.75sINFOobjective_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 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Received new action goal + 4.07sINFOros2_control_node[2026-06-02 21:28:44.433] [info] Accepted new action goal | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 2 errors · 20 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780435778.12523460 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780435778.71176076 seconds. ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 0.71sINFOobjective_server_nodePath shortcutter: [X___X] + 0.72sINFOros2_control_node[2026-06-02 21:29:38.845] [info] Received new action goal + 0.72sINFOros2_control_node[2026-06-02 21:29:38.845] [info] Accepted new action goal + 2.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 2.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. + 2.05sINFOobjective_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 + 2.95sERRORobjective_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 + 2.96sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 2 errors · 17 info |
+ 0.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. + 0.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 + 0.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×2 + 1.18sERRORobjective_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 + 1.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780435815.73648310 seconds ×2 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 1.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.88sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780435816.43432236 seconds. ×2 + 1.95sINFOobjective_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 + 2.05sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 2.05sINFOobjective_server_nodePath shortcutter: [X_______X] + 2.06sINFOros2_control_node[2026-06-02 21:30:16.608] [info] Received new action goal + 2.06sINFOros2_control_node[2026-06-02 21:30:16.608] [info] Accepted new action goal | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 48 errors · 1176 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×242 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×218 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×242 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×218 + 0.01sINFOjoint_trajectory_controllerGoal reached, success! ×121 + 0.02sINFOros2_control_nodeGoal reached, success![0m ×121 + 0.23sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.900087) + 0.23sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.900087)[0m + 0.31sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.970086) + 0.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.970086)[0m + 0.32sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.990086) ×2 + 0.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435844.990086)[0m ×2 + 0.35sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.010086) + 0.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.010086)[0m + 0.36sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.030087) + 0.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.030087)[0m + 0.49sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.160087) + 0.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.160087)[0m + 0.85sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.520087) + 0.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.520087)[0m + 1.01sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.670086) + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.670086)[0m + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.680087) + 1.02sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.690086) ×2 + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.680087)[0m + 1.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.690086)[0m ×2 + 1.07sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.740087) + 1.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435845.740087)[0m + 1.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.430086) + 1.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.430086)[0m + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.440087) + 1.78sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.450086) + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.440087)[0m + 1.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.450086)[0m + 1.82sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.490086) ×2 + 1.82sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435846.490086)[0m ×2 + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.130086) + 2.47sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.140086) ×2 + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.130086)[0m + 2.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.140086)[0m ×2 + 2.50sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.160087) + 2.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.160087)[0m + 3.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780435847.75928736 seconds ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 3.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 3.13sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.800086) + 3.13sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.800086)[0m + 3.15sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.820086) + 3.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435830.480087) that ends in the past (1780435847.820086)[0m + 3.76sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780435848.42801476 seconds. ×2 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 4.93sINFOobjective_server_nodeFound path in 6 iterations (0.00586929 s). + 4.99sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] + 5.00sINFOros2_control_node[2026-06-02 21:30:49.674] [info] Received new action goal + 5.00sINFOros2_control_node[2026-06-02 21:30:49.674] [info] Accepted new action goal | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 16 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: 1780435878.77638221 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780435879.43447208 seconds. ×2 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 1.80sINFOobjective_server_nodePath shortcutter: [X______X] + 1.81sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Received new action goal + 1.81sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Accepted new action goal | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 16 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: 1780435878.77638221 seconds ×2 + 0.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.92sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 1.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780435879.43447208 seconds. ×2 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). + 1.80sINFOobjective_server_nodePath shortcutter: [X______X] + 1.81sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Received new action goal + 1.81sINFOros2_control_node[2026-06-02 21:31:19.678] [info] Accepted new action goal | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 2 errors · 22 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Received new action goal + 0.00sINFOros2_control_node[2026-06-02 21:31:27.623] [info] Accepted new action goal + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×2 + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Received new action goal + 1.80sINFOros2_control_node[2026-06-02 21:31:29.419] [info] Accepted new action goal + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Got request to cancel active goal. + 2.02sINFOros2_control_node[2026-06-02 21:31:29.644] [info] Canceling active goal... + 2.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435889.65991926 seconds ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 2.11sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 2.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435890.30742145 seconds. ×2 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Received new action goal + 2.90sINFOros2_control_node[2026-06-02 21:31:30.525] [info] Accepted new action goal + 4.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 2 errors · 10 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780435900.73769474 seconds ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780435901.32880735 seconds. ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). + 0.84sINFOobjective_server_nodePath shortcutter: [X________________X] + 0.85sINFOros2_control_node[2026-06-02 21:31:41.584] [info] Received new action goal + 0.85sINFOros2_control_node[2026-06-02 21:31:41.584] [info] Accepted new action goal | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 14 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780435911.18267250 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m + 0.56sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780435911.74635625 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 (4.5e-07 s). + 0.67sINFOobjective_server_nodePath shortcutter: [X________X] + 0.68sINFOros2_control_node[2026-06-02 21:31:51.860] [info] Received new action goal + 0.68sINFOros2_control_node[2026-06-02 21:31:51.860] [info] Accepted new action goal + 2.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 2 errors · 30 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.68% of iterations over budget over 5:10.006 of wall time (640/94420). Below 1% is expected on a non-realtime system.[0m + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435922.13724327 seconds ×2 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×3 + 0.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435922.74307442 seconds. ×2 + 1.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m + 1.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m + 1.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435922.84321904 seconds ×2 + 1.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435923.41581774 seconds. ×2 + 1.70sINFOobjective_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 + 1.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435923.43808150 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435924.01124597 seconds. ×2 + 2.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×4 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 2.38sINFOobjective_server_nodePath shortcutter: [X___X] + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Received new action goal + 2.38sINFOros2_control_node[2026-06-02 21:32:04.124] [info] Accepted new action goal | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 2 errors · 2 warnings · 26 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780435934.14650822 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435934.72728181 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435936.40742445 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435936.96088648 seconds. ×2 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435936.96251631 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435937.51853275 seconds. ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435937.51895714 seconds ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 2 errors · 2 warnings · 26 info |
+ 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Got request to cancel active goal. + 0.00sINFOros2_control_node[2026-06-02 21:32:14.141] [info] Canceling active goal... + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780435934.14650822 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435934.72728181 seconds. ×2 + 2.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435936.40742445 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435936.96088648 seconds. ×2 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×2 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435936.96251631 seconds ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435937.51853275 seconds. ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435937.51895714 seconds ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 258 errors · 26 warnings · 10809 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/2026-06-02-21-20-33-880824-4279588049ec-22379 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.68sINFOros2_control_node-1process started with pid [22409] + 1.68sINFOmove_group-9process started with pid [22428] + 1.68sINFOparameter_manager_node-10process started with pid [22431] + 1.68sINFOwaypoint_manager_node-11process started with pid [22470] + 1.68sINFOmove_joint_resampler_node-12process started with pid [22472] + 1.68sINFOmove_end_effector_resampler_node-13process started with pid [22474] + 1.68sINFOobjective_server_node_main-14process started with pid [22476] + 1.68sINFOcomponent_container_mt-15process started with pid [22478] + 1.68sINFOexecute_objective_bridge-16process started with pid [22480] + 1.68sINFOui_teleop_bridge-17process started with pid [22482] + 1.68sINFOrosapi_node-18process started with pid [22484] + 1.68sINFOrosbridge_websocket-19process started with pid [22486] + 1.68sINFOtf2_web_republisher_node-20process started with pid [22488] + 1.68sINFOweb_video_server-21process started with pid [22514] + 1.70sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [22411] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [22413] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [22415] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [22417] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [22419] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [22422] + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [22425] + 1.75sWARNros2_control_node[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.[0m ×2 + 1.75sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.44sINFOrosbridge_websocketregistered capabilities (classes): ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> ×2 + 2.44sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> ×2 + 2.58sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m ×2 + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.83sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.93sINFOros2_control_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 2.93sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 2.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOobjective_server_node[2026-06-02 21:20:38.477] [moveit_pro_license] [info] + 3.91sINFOobjective_server_node************************************************* ×6 + 3.91sINFOobjective_server_node* MoveIt Pro License ×3 + 3.91sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.19sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.19sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.20sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.20sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.20sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.20sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.20sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.20sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.20sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.20sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.26sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.26sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.26sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.26sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.26sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.26sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.27sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.27sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.27sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.33sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m ×2 + 4.47sINFOobjective_server_nodeWarning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. ×2 + 4.47sINFOobjective_server_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp ×2 + 4.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m ×2 + 4.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m ×2 + 4.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m ×2 + 4.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.60sWARNros2_control_node[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.[0m ×2 + 4.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m ×2 + 4.68sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m ×2 + 4.70sINFOros2_control_nodeConfiguring controller 'robotiq_gripper_controller'[0m ×2 + 4.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m ×2 + 4.70sINFOros2_control_nodeConfiguring controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.70sINFOros2_control_node[2026-06-02 21:20:39.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.70sINFOros2_control_node[2026-06-02 21:20:39.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.79sINFOros2_control_node[2026-06-02 21:20:39.360] [info] First order lag filter time constant set to: 0.2 seconds + 4.79sINFOros2_control_node[2026-06-02 21:20:39.360] [info] Controller state will be published at 50 Hz. + 4.80sINFOros2_control_node[2026-06-02 21:20:39.368] [info] Registered `FollowJointTrajectory` action server. + 4.80sINFOros2_control_nodeConfiguring controller 'velocity_force_controller'[0m ×2 + 4.85sINFOros2_control_node[2026-06-02 21:20:39.419] [info] Controller state will be published at 10 Hz. + 4.85sINFOros2_control_node[2026-06-02 21:20:39.420] [info] VelocityForceController 'on_configure' succeeded. + 4.85sINFOros2_control_nodeConfiguring controller 'joint_state_broadcaster'[0m ×2 + 4.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.85sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.85sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.85sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.86sINFOros2_control_nodeConfiguring controller 'joint_trajectory_controller'[0m ×2 + 4.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.86sINFOros2_control_nodeController state will be published at 100.00 Hz.[0m ×2 + 4.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.87sINFOros2_control_nodeConfiguring controller 'joint_velocity_controller'[0m ×2 + 4.91sINFOros2_control_node[2026-06-02 21:20:39.479] [info] Controller state will be published at 20 Hz. + 4.91sINFOros2_control_node[2026-06-02 21:20:39.480] [info] JointVelocityController 'on_configure' succeeded. + 4.91sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.91sINFOros2_control_nodeConfiguring controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m ×2 + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m ×2 + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m ×2 + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m ×2 + 4.99sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.03sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.09sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 22419] + 5.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 22422] + 5.20sINFOmove_group ×4 + 5.20sINFOmove_group[92mYou can start planning now![0m ×2 + 5.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 22417] + 5.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 22415] + 5.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 22413] + 5.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 22411] + 5.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 22425] + 5.61sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×41 + 5.65sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×43 + 6.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780435240.81625891 seconds. + 6.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780435240.82650709 seconds + 6.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780435241.37669754 seconds. + 6.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×20 + 7.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435242.43690515 seconds + 8.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435243.03381252 seconds. + 9.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435244.00399756 seconds + 10.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435244.57222724 seconds. + 10.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435244.59236002 seconds + 10.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435245.15344429 seconds. + 10.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435245.30392385 seconds + 11.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435245.96875095 seconds. + 11.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 11.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435246.01892114 seconds + 12.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435246.60302973 seconds. + 12.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 12.15sINFOobjective_server_nodeFound path in 0 iterations (2.619e-05 s). + 12.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 12.16sINFOros2_control_node[2026-06-02 21:20:46.727] [info] Received new action goal + 12.16sINFOros2_control_node[2026-06-02 21:20:46.727] [info] Accepted new action goal + 14.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.35% of iterations over budget over 0:10.002 of wall time (11/3176). Below 1% is expected on a non-realtime system.[0m + 14.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×36 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×7 + 14.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.72sINFOros2_control_node[2026-06-02 21:20:49.287] [info] Received new action goal + 14.72sINFOros2_control_node[2026-06-02 21:20:49.287] [info] Accepted new action goal + 18.44sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×3 + 18.45sINFOros2_control_node[2026-06-02 21:20:53.019] [info] Received new action goal + 18.45sINFOros2_control_node[2026-06-02 21:20:53.019] [info] Accepted new action goal + 21.78sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). + 21.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×3 + 21.79sINFOros2_control_node[2026-06-02 21:20:56.357] [info] Received new action goal + 21.79sINFOros2_control_node[2026-06-02 21:20:56.358] [info] Accepted new action goal + 22.22sINFOros2_control_node[2026-06-02 21:20:56.783] [info] Got request to cancel active goal. + 22.22sINFOros2_control_node[2026-06-02 21:20:56.783] [info] Canceling active goal... + 22.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780435256.79887891 seconds + 22.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780435257.36734891 seconds. + 22.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780435257.50748062 seconds + 23.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780435258.15286016 seconds. + 24.74sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 24.74sINFOobjective_server_nodePath shortcutter: [X______X] ×6 + 24.75sINFOros2_control_node[2026-06-02 21:20:59.317] [info] Received new action goal + 24.75sINFOros2_control_node[2026-06-02 21:20:59.317] [info] Accepted new action goal + 56.76sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. + 56.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object` did not succeed at time: 1780435291.32722998 seconds + 57.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780435292.04915690 seconds. + 57.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780435292.10930157 seconds + 58.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780435292.69218969 seconds. + 58.24sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 58.24sINFOobjective_server_nodePath shortcutter: [X_____________X] + 58.26sINFOros2_control_node[2026-06-02 21:21:32.826] [info] Received new action goal + 58.26sINFOros2_control_node[2026-06-02 21:21:32.826] [info] Accepted new action goal + 61.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 61.61sINFOros2_control_node[2026-06-02 21:21:36.177] [info] Received new action goal + 61.61sINFOros2_control_node[2026-06-02 21:21:36.177] [info] Accepted new action goal + 63.94sINFOros2_control_node[2026-06-02 21:21:38.513] [info] Received new action goal + 63.95sINFOros2_control_node[2026-06-02 21:21:38.514] [info] Accepted new action goal + 66.28sINFOros2_control_node[2026-06-02 21:21:40.853] [info] Received new action goal + 66.28sINFOros2_control_node[2026-06-02 21:21:40.853] [info] Accepted new action goal + 68.21sINFOros2_control_node[2026-06-02 21:21:42.782] [info] Got request to cancel active goal. + 68.21sINFOros2_control_node[2026-06-02 21:21:42.782] [info] Canceling active goal... + 68.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780435302.79469466 seconds + 68.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780435303.42885280 seconds. + 69.04sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 69.04sINFOros2_control_node[2026-06-02 21:21:43.612] [info] Received new action goal + 69.04sINFOros2_control_node[2026-06-02 21:21:43.612] [info] Accepted new action goal + 74.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.47% of iterations over budget over 1:10.002 of wall time (101/21560). Below 1% is expected on a non-realtime system.[0m + 79.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780435313.77943301 seconds + 79.78sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780435314.34097338 seconds. + 79.98sINFOros2_control_node[2026-06-02 21:21:54.544] [info] Received new action goal + 79.98sINFOros2_control_node[2026-06-02 21:21:54.544] [info] Accepted new action goal + 86.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 86.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×2 + 86.46sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 86.46sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 86.47sINFOobjective_server_nodePath shortcutter: [X________________X] ×3 + 86.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 86.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 86.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] + 86.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] + 86.63sINFOobjective_server_nodeFound path in 1 iterations (0.00310555 s). + 86.72sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] + 86.76sINFOobjective_server_nodeFound path in 1 iterations (0.00421828 s). + 86.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] + 86.86sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 86.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] + 87.01sINFOros2_control_node[2026-06-02 21:22:01.575] [info] Received new action goal + 87.01sINFOros2_control_node[2026-06-02 21:22:01.575] [info] Accepted new action goal + 89.75sINFOobjective_server_nodePath shortcutter: [X_X] + 89.75sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). + 89.75sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 89.76sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×3 + 89.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 89.83sINFOobjective_server_nodeFound path in 1 iterations (0.00371847 s). + 89.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] + 89.96sINFOros2_control_node[2026-06-02 21:22:04.532] [info] Received new action goal + 89.96sINFOros2_control_node[2026-06-02 21:22:04.533] [info] Accepted new action goal + 90.21sINFOros2_control_node[2026-06-02 21:22:04.777] [info] Got request to cancel active goal. + 90.21sINFOros2_control_node[2026-06-02 21:22:04.777] [info] Canceling active goal... + 90.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780435324.78387237 seconds + 90.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780435325.39328980 seconds. + 91.01sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). + 91.02sINFOros2_control_node[2026-06-02 21:22:05.587] [info] Received new action goal + 91.02sINFOros2_control_node[2026-06-02 21:22:05.587] [info] Accepted new action goal + 93.46sINFOros2_control_node[2026-06-02 21:22:08.033] [info] Received new action goal + 93.46sINFOros2_control_node[2026-06-02 21:22:08.033] [info] Accepted new action goal +102.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780435336.60706496 seconds +102.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780435337.17241740 seconds. +102.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 +102.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 +102.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780435337.27257133 seconds +103.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780435338.03002548 seconds. +103.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 +103.59sINFOros2_control_node[2026-06-02 21:22:18.154] [info] Received new action goal +103.59sINFOros2_control_node[2026-06-02 21:22:18.154] [info] Accepted new action goal +105.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780435340.16016603 seconds +106.15sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780435340.72054148 seconds. +106.31sINFOros2_control_node[2026-06-02 21:22:20.872] [info] Received new action goal +106.31sINFOros2_control_node[2026-06-02 21:22:20.872] [info] Accepted new action goal +111.60sINFOobjective_server_node[0;93m2026-06-02 21:22:26.165620825 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +111.60sINFOobjective_server_node[0;93m2026-06-02 21:22:26.165656326 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.15sINFOobjective_server_node[0;93m2026-06-02 21:22:26.715359241 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +112.15sINFOobjective_server_node[0;93m2026-06-02 21:22:26.715403912 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.30sINFOobjective_server_node[0;93m2026-06-02 21:22:26.868734871 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +112.30sINFOobjective_server_node[0;93m2026-06-02 21:22:26.871262883 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +112.30sINFOobjective_server_node[0;93m2026-06-02 21:22:26.871299834 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +112.66sINFOobjective_server_node[0;93m2026-06-02 21:22:27.233000148 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +112.68sINFOobjective_server_node[0;93m2026-06-02 21:22:27.249641810 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +112.68sINFOobjective_server_node[0;93m2026-06-02 21:22:27.249688120 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +114.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780435348.60363913 seconds +114.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780435349.21335793 seconds. +115.17sINFOobjective_server_node[0;93m2026-06-02 21:22:29.739583493 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.17sINFOobjective_server_node[0;93m2026-06-02 21:22:29.739622153 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +115.68sINFOobjective_server_node[0;93m2026-06-02 21:22:30.244488317 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.68sINFOobjective_server_node[0;93m2026-06-02 21:22:30.244534088 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +115.81sINFOobjective_server_node[0;93m2026-06-02 21:22:30.377563522 [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 +115.81sINFOobjective_server_node[0;93m2026-06-02 21:22:30.380446321 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +115.81sINFOobjective_server_node[0;93m2026-06-02 21:22:30.380485462 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +116.16sINFOobjective_server_node[0;93m2026-06-02 21:22:30.725834528 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m +116.18sINFOobjective_server_node[0;93m2026-06-02 21:22:30.745919791 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m +116.18sINFOobjective_server_node[0;93m2026-06-02 21:22:30.745962832 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +117.06sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780435351.62451291 seconds +117.75sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780435352.31136131 seconds. +117.83sINFOobjective_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 +117.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 +118.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +118.12sINFOobjective_server_nodePath shortcutter: [X____________X] ×3 +118.15sINFOros2_control_node[2026-06-02 21:22:32.716] [info] Received new action goal +118.15sINFOros2_control_node[2026-06-02 21:22:32.716] [info] Accepted new action goal +121.01sINFOros2_control_node[2026-06-02 21:22:35.583] [info] Received new action goal +121.02sINFOros2_control_node[2026-06-02 21:22:35.584] [info] Accepted new action goal +124.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×8 +124.19sINFOros2_control_node[2026-06-02 21:22:38.761] [info] Received new action goal +124.19sINFOros2_control_node[2026-06-02 21:22:38.762] [info] Accepted new action goal +127.13sINFOros2_control_node[2026-06-02 21:22:41.695] [info] Received new action goal +127.13sINFOros2_control_node[2026-06-02 21:22:41.695] [info] Accepted new action goal +130.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 +134.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.50% of iterations over budget over 2:10.004 of wall time (199/39871). Below 1% is expected on a non-realtime system.[0m +137.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 +138.55sINFOros2_control_node[2026-06-02 21:22:53.123] [info] Received new action goal +138.55sINFOros2_control_node[2026-06-02 21:22:53.123] [info] Accepted new action goal +139.74sINFOobjective_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 +139.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 +140.07sINFOros2_control_node[2026-06-02 21:22:54.638] [info] Received new action goal +140.07sINFOros2_control_node[2026-06-02 21:22:54.638] [info] Accepted new action goal +142.36sINFOros2_control_node[2026-06-02 21:22:56.926] [info] Received new action goal +142.36sINFOros2_control_node[2026-06-02 21:22:56.926] [info] Accepted new action goal +145.40sINFOros2_control_node[2026-06-02 21:22:59.965] [info] Received new action goal +145.40sINFOros2_control_node[2026-06-02 21:22:59.965] [info] Accepted new action goal +147.98sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×5 +148.04sINFOros2_control_node[2026-06-02 21:23:02.606] [info] Received new action goal +148.04sINFOros2_control_node[2026-06-02 21:23:02.606] [info] Accepted new action goal +158.75sINFOros2_control_node[2026-06-02 21:23:13.315] [info] Received new action goal +158.75sINFOros2_control_node[2026-06-02 21:23:13.315] [info] Accepted new action goal +159.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780435394.47161341 seconds +160.61sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780435395.18264294 seconds. +161.83sINFOobjective_server_nodePath shortcutter: [X__________________________X] +161.84sINFOros2_control_node[2026-06-02 21:23:16.408] [info] Received new action goal +161.84sINFOros2_control_node[2026-06-02 21:23:16.408] [info] Accepted new action goal +167.93sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). +167.93sINFOobjective_server_nodePath shortcutter: [X________________________X] +167.95sINFOros2_control_node[2026-06-02 21:23:22.517] [info] Received new action goal +167.95sINFOros2_control_node[2026-06-02 21:23:22.517] [info] Accepted new action goal +171.55sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780435406.12281823 seconds +172.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780435406.72139025 seconds. +172.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 +172.31sINFOros2_control_node[2026-06-02 21:23:26.875] [info] Received new action goal +172.31sINFOros2_control_node[2026-06-02 21:23:26.875] [info] Accepted new action goal +173.58sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 +173.59sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +174.85sERRORobjective_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 +174.86sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×7 +177.28sINFOros2_control_nodeReceived new action goal[0m ×4467 +177.28sINFOros2_control_nodeAccepted new action goal[0m ×4245 +182.02sINFOros2_control_nodeGoal reached, success![0m ×1097 +194.29sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 3:10.006 of wall time (352/58185). Below 1% is expected on a non-realtime system.[0m +203.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780435438.30274820 seconds +204.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780435438.92393231 seconds. +204.53sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 +204.54sINFOros2_control_node[2026-06-02 21:23:59.108] [info] Received new action goal +204.54sINFOros2_control_node[2026-06-02 21:23:59.108] [info] Accepted new action goal +219.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435453.994530)[0m +219.44sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.004530)[0m +219.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.344530)[0m +219.95sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.504530)[0m +219.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.524530)[0m +219.98sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.544530)[0m +220.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.704530)[0m ×2 +220.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.714530)[0m +220.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.784530)[0m +220.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435454.954530)[0m +220.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435455.054530)[0m +220.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435455.344530)[0m +220.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435455.474530)[0m ×2 +220.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435455.524530)[0m +221.09sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435455.654530)[0m +221.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435455.834530)[0m +221.28sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435455.844530)[0m +221.62sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.184530)[0m +221.63sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.194530)[0m +221.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.214530)[0m ×2 +222.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.624530)[0m +222.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.854530)[0m +222.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.954530)[0m +222.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.964530)[0m +222.43sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435456.994530)[0m +222.45sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435457.014530)[0m ×2 +222.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435457.454530)[0m +223.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435457.664531)[0m +223.12sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435457.674530)[0m +223.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435457.694530)[0m +223.36sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435457.924531)[0m +223.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.074530)[0m +223.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.134530)[0m +223.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.434530)[0m +223.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.444530)[0m +223.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.474530)[0m +224.21sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.774530)[0m +224.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.814530)[0m +224.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435458.964530)[0m +224.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.114530)[0m +224.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.124530)[0m +224.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.134530)[0m +224.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.144531)[0m +224.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.164531)[0m +225.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.604530)[0m +225.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.634530)[0m +225.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.804530)[0m +225.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.824530)[0m +225.27sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.834530)[0m +225.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.914530)[0m +225.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.924531)[0m +225.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.964530)[0m +225.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435459.974530)[0m +225.53sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435460.094530)[0m ×2 +225.67sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435460.234530)[0m +225.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435460.444530)[0m +225.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435460.464530)[0m +226.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435460.624530)[0m +226.08sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435460.644531)[0m ×2 +226.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435460.984530)[0m +226.48sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.044530)[0m +226.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.294530)[0m +226.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.314530)[0m +226.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.404531)[0m +226.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.414530)[0m +226.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.424531)[0m +226.99sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.554530)[0m +227.01sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.574530)[0m +227.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435461.614530)[0m +227.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.144531)[0m ×2 +227.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.154530)[0m +227.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.174530)[0m ×2 +228.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.614530)[0m +228.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.814530)[0m +228.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.894530)[0m +228.35sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.914530)[0m +228.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.944530)[0m +228.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780435462.94715691 seconds +228.39sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435445.684530) that ends in the past (1780435462.954530)[0m +229.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780435463.66183114 seconds. +229.28sINFOros2_control_node[2026-06-02 21:24:23.847] [info] Received new action goal +229.28sINFOros2_control_node[2026-06-02 21:24:23.847] [info] Accepted new action goal +237.84sINFOros2_control_node[2026-06-02 21:24:32.408] [info] Received new action goal +237.84sINFOros2_control_node[2026-06-02 21:24:32.408] [info] Accepted new action goal +242.83sINFOros2_control_node[2026-06-02 21:24:37.400] [info] Received new action goal +242.83sINFOros2_control_node[2026-06-02 21:24:37.400] [info] Accepted new action goal +250.15sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435484.699603)[0m +250.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435484.719603)[0m +250.16sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435484.729603)[0m ×2 +250.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435484.939603)[0m +250.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.039603)[0m +250.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.099603)[0m +250.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.119603)[0m +250.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.169603)[0m ×2 +250.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.329603)[0m +250.81sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.369603)[0m ×2 +250.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.449603)[0m +250.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.459603)[0m +250.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.479603)[0m +250.96sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.519603)[0m ×2 +251.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.799603)[0m +251.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.889603)[0m +251.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435485.969603)[0m +251.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.119603)[0m +251.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.139603)[0m +251.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.149603)[0m +251.60sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.159603)[0m +251.65sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.219603)[0m +251.76sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.329603)[0m +252.00sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.569603)[0m +252.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.809603)[0m +252.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.909603)[0m ×2 +252.37sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.939603)[0m +252.41sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435486.969603)[0m ×2 +252.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435487.399603)[0m +252.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435487.429603)[0m +253.04sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435487.599603)[0m +253.05sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435487.619603)[0m ×2 +253.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435487.829603)[0m +253.85sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435488.409603)[0m +253.86sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435488.419603)[0m +253.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435488.429603)[0m +253.88sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435488.439603)[0m +254.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435488.859603)[0m +254.30sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 4:10.008 of wall time (524/76382). Below 1% is expected on a non-realtime system.[0m +254.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435488.869603)[0m +254.32sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435488.889603)[0m +254.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.029603)[0m +254.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.049603)[0m ×2 +254.50sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.059603)[0m +254.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.079603)[0m +255.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.709603)[0m +255.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.809603)[0m +255.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.859603)[0m +255.31sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.869603)[0m +255.38sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435489.939603)[0m +255.90sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435490.459603)[0m +255.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435490.479603)[0m ×2 +255.94sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435490.499603)[0m +256.66sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.219603)[0m +256.69sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.259603)[0m +256.72sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.279603)[0m ×2 +256.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.359603)[0m +257.11sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.669603)[0m +257.33sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.879603)[0m +257.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.899603)[0m +257.34sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435491.909603)[0m ×2 +258.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435492.659603)[0m +258.10sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435492.669603)[0m +258.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435492.689603)[0m +258.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435492.699603)[0m +258.14sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435492.709603)[0m +258.40sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435492.969603)[0m +258.42sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435492.989603)[0m +258.61sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435493.179603)[0m +258.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435493.329603)[0m +258.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435493.339603)[0m +258.78sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435493.349603)[0m ×2 +258.84sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435493.399603)[0m +259.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.099603)[0m +259.56sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.119603)[0m +259.57sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.129603)[0m +259.58sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.139603)[0m ×2 +260.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.799603)[0m ×2 +260.26sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.819603)[0m +260.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.849603)[0m +260.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435494.859603)[0m +260.92sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435495.489603)[0m +261.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435495.579603)[0m +261.02sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435495.589603)[0m +261.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435495.609603)[0m +261.06sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435495.619603)[0m +261.07sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435495.639603)[0m +261.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435496.269603)[0m +261.71sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435496.279603)[0m +261.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435496.289603)[0m +261.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435496.299603)[0m ×2 +262.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.059603)[0m +262.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.079603)[0m +262.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.089603)[0m +262.54sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.099603)[0m +262.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.109603)[0m +262.55sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.119603)[0m +263.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.799603)[0m ×2 +263.24sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.809603)[0m +263.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.849603)[0m +263.29sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435497.859603)[0m +264.73sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435499.289603)[0m ×2 +264.75sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435499.309603)[0m +264.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435499.349603)[0m +265.47sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.039603)[0m +265.49sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.059603)[0m +265.51sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.079603)[0m ×2 +265.52sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.089603)[0m +265.59sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.149603)[0m +265.97sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.539603)[0m +266.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.749603)[0m +266.20sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.759603)[0m ×2 +266.22sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.779603)[0m +266.25sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435500.819603)[0m ×2 +266.82sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780435501.39054680 seconds +266.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435501.429603)[0m +266.87sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435501.439603)[0m +266.93sERRORros2_control_nodeReceived trajectory with non-zero start time (1780435484.219603) that ends in the past (1780435501.489603)[0m +267.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780435502.04074836 seconds. +268.67sINFOobjective_server_nodeFound path in 6 iterations (0.00542582 s). +268.73sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] +268.75sINFOros2_control_node[2026-06-02 21:25:03.320] [info] Received new action goal +268.75sINFOros2_control_node[2026-06-02 21:25:03.320] [info] Accepted new action goal +279.32sINFOobjective_server_node[0;m[0;93m2026-06-02 21:25:13.887669825 [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 +279.32sINFOobjective_server_node[0;93m2026-06-02 21:25:13.887715066 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +279.83sINFOobjective_server_node[0;93m2026-06-02 21:25:14.399775578 [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 +279.83sINFOobjective_server_node[0;93m2026-06-02 21:25:14.399809319 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +279.95sINFOobjective_server_node[0;93m2026-06-02 21:25:14.515908633 [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 +279.95sINFOobjective_server_node[0;93m2026-06-02 21:25:14.518763902 [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 +279.95sINFOobjective_server_node[0;93m2026-06-02 21:25:14.518803152 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +280.31sINFOobjective_server_node[0;93m2026-06-02 21:25:14.878152957 [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 +280.32sINFOobjective_server_node[0;93m2026-06-02 21:25:14.892444921 [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 +280.32sINFOobjective_server_node[0;93m2026-06-02 21:25:14.892481742 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +285.74sINFOobjective_server_nodeFound path in 4 iterations (0.00427839 s). +285.80sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +285.83sINFOobjective_server_nodeFound path in 13 iterations (0.00500596 s). +285.89sINFOobjective_server_nodePath shortcutter: [X_________________________________X__________________________X] +285.92sINFOobjective_server_nodeFound path in 2 iterations (0.00403303 s). +285.96sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] +285.98sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 +286.00sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +286.02sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). +286.05sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +286.07sINFOobjective_server_nodeFound path in 12 iterations (0.00603988 s). +286.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] +286.15sINFOobjective_server_nodeFound path in 1 iterations (0.00320226 s). +286.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X____________________X] +286.21sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +286.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +286.26sINFOobjective_server_nodeFound path in 4 iterations (0.00537227 s). +286.35sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] +286.37sINFOobjective_server_nodeFound path in 4 iterations (0.00262291 s). +286.46sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] +286.48sINFOobjective_server_nodeFound path in 1 iterations (0.00477655 s). +286.53sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] +286.56sINFOobjective_server_nodeFound path in 1 iterations (0.00329627 s). +286.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] +286.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +286.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +286.79sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). +286.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X] +286.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] +287.01sINFOros2_control_node[2026-06-02 21:25:21.579] [info] Received new action goal +287.01sINFOros2_control_node[2026-06-02 21:25:21.579] [info] Accepted new action goal +292.02sINFOros2_control_node[2026-06-02 21:25:26.591] [info] Received new action goal +292.02sINFOros2_control_node[2026-06-02 21:25:26.591] [info] Accepted new action goal +293.76sINFOros2_control_node[2026-06-02 21:25:28.326] [info] Received new action goal +293.76sINFOros2_control_node[2026-06-02 21:25:28.326] [info] Accepted new action goal +294.95sINFOobjective_server_nodePlanning for 4 path waypoints. +295.00sINFOros2_control_node[2026-06-02 21:25:29.570] [info] Received new action goal +295.00sINFOros2_control_node[2026-06-02 21:25:29.570] [info] Accepted new action goal +300.41sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780435534.98094559 seconds +301.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780435535.64430594 seconds. +301.34sINFOros2_control_node[2026-06-02 21:25:35.904] [info] Received new action goal +301.34sINFOros2_control_node[2026-06-02 21:25:35.904] [info] Accepted new action goal +306.28sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +306.28sINFOobjective_server_nodePath shortcutter: [X___________X] +306.28sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). +306.35sINFOobjective_server_nodeFound path in 1 iterations (0.00267417 s). +306.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] +306.45sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +306.47sINFOros2_control_node[2026-06-02 21:25:41.036] [info] Received new action goal +306.47sINFOros2_control_node[2026-06-02 21:25:41.036] [info] Accepted new action goal +309.01sINFOros2_control_node[2026-06-02 21:25:43.581] [info] Received new action goal +309.01sINFOros2_control_node[2026-06-02 21:25:43.581] [info] Accepted new action goal +310.78sINFOros2_control_node[2026-06-02 21:25:45.350] [info] Received new action goal +310.78sINFOros2_control_node[2026-06-02 21:25:45.350] [info] Accepted new action goal +311.22sINFOros2_control_node[2026-06-02 21:25:45.790] [info] Got request to cancel active goal. +311.22sINFOros2_control_node[2026-06-02 21:25:45.790] [info] Canceling active goal... +311.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780435545.80174088 seconds +311.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780435546.50344968 seconds. +312.05sINFOros2_control_node[2026-06-02 21:25:46.617] [info] Received new action goal +312.05sINFOros2_control_node[2026-06-02 21:25:46.617] [info] Accepted new action goal +313.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +314.30sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.69% of iterations over budget over 5:10.010 of wall time (656/94687). Below 1% is expected on a non-realtime system.[0m +322.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780435556.78374982 seconds +322.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780435557.37635589 seconds. +323.08sINFOros2_control_node[2026-06-02 21:25:57.644] [info] Received new action goal +323.08sINFOros2_control_node[2026-06-02 21:25:57.644] [info] Accepted new action goal +327.09sINFOros2_control_node[2026-06-02 21:26:01.658] [info] Received new action goal +327.09sINFOros2_control_node[2026-06-02 21:26:01.658] [info] Accepted new action goal +332.68sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780435567.24599123 seconds +333.24sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780435567.81365824 seconds. +333.38sINFOros2_control_node[2026-06-02 21:26:07.948] [info] Received new action goal +333.38sINFOros2_control_node[2026-06-02 21:26:07.948] [info] Accepted new action goal +343.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780435578.28385305 seconds +344.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780435578.84614253 seconds. +344.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780435578.94629812 seconds +345.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780435579.59543633 seconds. +345.05sINFOobjective_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 '' +345.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780435579.61779141 seconds +345.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780435580.18675137 seconds. +345.74sINFOros2_control_node[2026-06-02 21:26:20.310] [info] Received new action goal +345.74sINFOros2_control_node[2026-06-02 21:26:20.310] [info] Accepted new action goal +349.04sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +349.04sINFOros2_control_node[2026-06-02 21:26:23.611] [info] Received new action goal +349.04sINFOros2_control_node[2026-06-02 21:26:23.611] [info] Accepted new action goal +349.04sINFOros2_control_node[2026-06-02 21:26:23.611] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +355.72sINFOros2_control_node[2026-06-02 21:26:30.287] [info] Got request to cancel active goal. +355.72sINFOros2_control_node[2026-06-02 21:26:30.287] [info] Canceling active goal... +355.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780435590.29234242 seconds +356.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780435590.89047456 seconds. +357.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780435592.00060964 seconds +358.13sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780435592.69504619 seconds. +358.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +358.13sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +358.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +358.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780435592.69649720 seconds +358.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780435593.25441027 seconds. +358.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780435593.25514936 seconds +359.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780435593.82119107 seconds. +359.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780435594.41131830 seconds +359.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +366.10sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.10sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.10sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.10sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.10sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.10sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.10sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.10sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.11sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.11sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.11sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.11sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.11sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.11sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +366.11sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] +366.12sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +366.13sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] +366.14sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] +366.15sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] +366.15sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] +366.16sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +366.17sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +366.18sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +366.19sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +366.20sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +366.21sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +366.22sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +366.23sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +366.23sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +366.23sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +366.23sINFOrosbridge_websocketExiting due to SIGINT +366.23sERRORrosapi_nodeTraceback (most recent call last): +366.23sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 560, in <module> +366.23sINFOrosapi_nodemain() +366.23sINFOrosapi_nodeFile "/opt/ros/humble/lib/rosapi/rosapi_node", line 552, in main +366.23sINFOrosapi_noderclpy.spin(node) +366.23sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 229, in spin +366.23sINFOrosapi_nodeexecutor.spin_once() +366.23sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 808, in spin_once +366.23sINFOrosapi_nodeself._spin_once_impl(timeout_sec) +366.23sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 797, in _spin_once_impl +366.23sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) +366.23sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 780, in wait_for_ready_callbacks +366.23sINFOrosapi_nodereturn next(self._cb_iter) +366.23sINFOrosapi_nodeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 681, in _wait_for_ready_callbacks +366.23sINFOrosapi_noderaise ExternalShutdownException() +366.23sINFOrosapi_noderclpy.executors.ExternalShutdownException +366.23sERRORui_teleop_bridgeTraceback (most recent call last): +366.23sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +366.23sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +366.23sINFOui_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 +366.23sINFOui_teleop_bridgerclpy.shutdown() +366.23sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown +366.23sINFOui_teleop_bridge_shutdown(context=context) +366.23sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown +366.23sINFOui_teleop_bridgereturn context.shutdown() +366.23sINFOui_teleop_bridgeFile "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown +366.23sINFOui_teleop_bridgeself.__context.shutdown() +366.23sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241 +366.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +366.23sINFOros2_control_nodeShutdown request received....[0m +366.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +366.24sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +366.24sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +366.24sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +366.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +366.24sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +366.24sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +366.24sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +366.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +366.24sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +366.24sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +366.24sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +366.24sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +366.24sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +366.24sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +366.24sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +366.24sINFOros2_control_nodeShutting down the controller manager.[0m +366.27sINFOobjective_server_node[0;m[2026-06-02 21:26:40.841] [moveit_pro_license] [info] +366.27sINFOobjective_server_node* Application has successfully terminated +366.34sINFOweb_video_server-21process has finished cleanly [pid 22514] +366.35sINFOobjective_server_nodecorrupted double-linked list +366.35sERRORobjective_server_nodeStack trace (most recent call last) in thread 22877: +366.35sINFOtf2_web_republisher_node-20process has finished cleanly [pid 22488] +366.35sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +366.35sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +366.36sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +366.37sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc994fa83, in __clone +366.37sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98beac2, in +366.37sINFOobjective_server_node#12 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fafa406021b, in +366.37sINFOobjective_server_node#11 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fafa4014674, in +366.37sINFOobjective_server_node#10 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fafa4003339, in +366.37sINFOobjective_server_node#9 Object "/opt/ros/humble/lib/x86_64-linux-gnu/libddsc.so.0.10.5", at 0x7fafa3ff3ede, in +366.37sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98cf452, in free +366.37sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98cce9f, in +366.37sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98cb968, in +366.37sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98cb7cb, in +366.37sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98cacfb, in +366.37sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98b3676, in +366.37sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98527f2, in abort +366.37sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc986c475, in raise +366.37sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fafc98c09fc, in pthread_kill +366.37sERRORobjective_server_nodeAborted (Signal sent by tkill() 22476 0) +366.40sERRORui_teleop_bridge-17process has died [pid 22482, 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_yyf83gmu']. +366.41sINFOrosbridge_websocket-19process has finished cleanly [pid 22486] +366.41sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system +366.42sINFOexecute_objective_bridge-16process has finished cleanly [pid 22480] +367.00sERRORobjective_server_node_main-14process has died [pid 22476, 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_2yznpd2x --params-file /tmp/launch_params_0kqrqvgi --params-file /tmp/launch_params_mqrli5sq --params-file /tmp/launch_params_bge8vdgf --params-file /tmp/launch_params_8mbchtgb --params-file /tmp/launch_params_lqh4efv3']. +367.00sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +367.21sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 22474] +367.22sINFOmove_joint_resampler_node-12process has finished cleanly [pid 22472] +367.26sINFOparameter_manager_node-10process has finished cleanly [pid 22431] +367.27sINFOwaypoint_manager_node-11process has finished cleanly [pid 22470] +367.32sERRORrosapi_node-18process has died [pid 22484, exit code 1, cmd '/opt/ros/humble/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params_e8uos7ct']. +367.40sINFOcomponent_container_mt-15process has finished cleanly [pid 22478] +367.55sINFOmove_group-9process has finished cleanly [pid 22428] +368.07sINFOros2_control_node-1process has finished cleanly [pid 22409] +372.82sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-02-21-26-46-685587-4279588049ec-23789 +374.54sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. +374.55sINFOros2_control_node-1process started with pid [23819] +374.55sINFOmove_group-9process started with pid [23838] +374.55sINFOparameter_manager_node-10process started with pid [23841] +374.55sINFOwaypoint_manager_node-11process started with pid [23880] +374.55sINFOmove_joint_resampler_node-12process started with pid [23882] +374.55sINFOmove_end_effector_resampler_node-13process started with pid [23884] +374.55sINFOobjective_server_node_main-14process started with pid [23886] +374.55sINFOcomponent_container_mt-15process started with pid [23888] +374.55sINFOexecute_objective_bridge-16process started with pid [23890] +374.55sINFOui_teleop_bridge-17process started with pid [23892] +374.55sINFOrosapi_node-18process started with pid [23894] +374.55sINFOrosbridge_websocket-19process started with pid [23896] +374.55sINFOtf2_web_republisher_node-20process started with pid [23898] +374.55sINFOweb_video_server-21process started with pid [23930] +374.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [23821] +374.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [23823] +374.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [23825] +374.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [23827] +374.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [23829] +374.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [23832] +374.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [23835] +374.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +374.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +374.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +374.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +374.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +374.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +374.88sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +374.88sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +374.88sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +374.88sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +375.50sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... +375.52sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +375.62sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +375.64sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +375.66sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. +375.67sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +375.67sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +375.74sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +376.73sINFOobjective_server_node[2026-06-02 21:26:51.300] [moveit_pro_license] [info] +377.15sINFOcontroller_managerupdate rate is 600 Hz +377.15sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +377.15sWARNcontroller_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. +377.16sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +377.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +377.21sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +377.33sINFOcontroller_managerLoading controller 'joint_velocity_controller' +377.33sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +377.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +377.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +377.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +377.43sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +377.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +377.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +377.47sWARNjoint_trajectory_controller[Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. +377.47sINFOcontroller_managerLoading controller 'velocity_force_controller' +377.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +377.55sINFOcontroller_managerConfiguring controller 'force_torque_sensor_broadcaster' +377.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +377.55sINFOcontroller_managerConfiguring controller 'joint_velocity_controller' +377.64sINFOros2_control_node[2026-06-02 21:26:52.207] [info] Controller state will be published at 20 Hz. +377.64sINFOros2_control_node[2026-06-02 21:26:52.209] [info] JointVelocityController 'on_configure' succeeded. +377.64sINFOcontroller_managerConfiguring controller 'robotiq_gripper_controller' +377.64sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +377.64sINFOcontroller_managerConfiguring controller 'joint_trajectory_admittance_controller' +377.64sINFOros2_control_node[2026-06-02 21:26:52.212] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +377.64sINFOros2_control_node[2026-06-02 21:26:52.212] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. +377.68sINFOros2_control_node[2026-06-02 21:26:52.250] [info] First order lag filter time constant set to: 0.2 seconds +377.68sINFOros2_control_node[2026-06-02 21:26:52.250] [info] Controller state will be published at 50 Hz. +377.69sINFOros2_control_node[2026-06-02 21:26:52.255] [info] Registered `FollowJointTrajectory` action server. +377.69sINFOcontroller_managerConfiguring controller 'joint_state_broadcaster' +377.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +377.69sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +377.69sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +377.69sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +377.69sINFOcontroller_managerConfiguring controller 'joint_trajectory_controller' +377.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +377.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +377.69sINFOjoint_trajectory_controllerController state will be published at 100.00 Hz. +377.70sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +377.70sINFOcontroller_managerConfiguring controller 'velocity_force_controller' +377.74sINFOros2_control_node[2026-06-02 21:26:52.311] [info] Controller state will be published at 10 Hz. +377.74sINFOros2_control_node[2026-06-02 21:26:52.312] [info] VelocityForceController 'on_configure' succeeded. +377.75sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +377.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +377.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +377.76sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +377.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 23835] +378.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 23829] +378.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 23825] +378.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 23827] +378.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 23823] +378.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 23832] +378.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 23821] +379.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780435613.67494226 seconds. ×2 +379.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780435613.68509722 seconds ×2 +379.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780435614.23569059 seconds. ×2 +379.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +380.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 +381.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 +382.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 +382.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 +383.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 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 (1.922e-05 s). + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 6.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.88sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.88sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 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 (1.922e-05 s). + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 6.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 warnings · 79 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/2026-06-02-21-26-46-685587-4279588049ec-23789 + 0.00sINFOlaunchDefault logging verbosity is set to INFO + 1.72sWARNcontroller_manager[Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. + 1.73sINFOros2_control_node-1process started with pid [23819] + 1.73sINFOmove_group-9process started with pid [23838] + 1.73sINFOparameter_manager_node-10process started with pid [23841] + 1.73sINFOwaypoint_manager_node-11process started with pid [23880] + 1.73sINFOmove_joint_resampler_node-12process started with pid [23882] + 1.73sINFOmove_end_effector_resampler_node-13process started with pid [23884] + 1.73sINFOobjective_server_node_main-14process started with pid [23886] + 1.73sINFOcomponent_container_mt-15process started with pid [23888] + 1.73sINFOexecute_objective_bridge-16process started with pid [23890] + 1.73sINFOui_teleop_bridge-17process started with pid [23892] + 1.73sINFOrosapi_node-18process started with pid [23894] + 1.73sINFOrosbridge_websocket-19process started with pid [23896] + 1.73sINFOtf2_web_republisher_node-20process started with pid [23898] + 1.73sINFOweb_video_server-21process started with pid [23930] + 1.74sINFOparameter_manager_nodeStarted parameter manager node. + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [23821] + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [23823] + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [23825] + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [23827] + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [23829] + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [23832] + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [23835] + 1.76sWARNros2_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 + 1.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m + 1.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' + 1.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' + 2.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.05sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.06sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m + 2.06sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m + 2.07sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m + 2.07sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m + 2.63sINFOrosbridge_websocketregistered capabilities (classes): + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> + 2.63sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> + 2.64sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> + 2.69sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.83sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.84sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds. + 2.84sWARNrosbridge_websocketThe 'default_call_service_timeout' parameter is currently set to 0.0, which means service calls will block indefinitely if no response is received. Please note that in the Jazzy and later releases, the default value for this parameter will be updated to 5.0 seconds.[0m + 2.85sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.89sINFOros2_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. + 2.89sINFOros2_control_nodeat line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp + 2.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m + 2.91sINFOwaypoint_manager_nodeStarted waypoint manager node. + 2.93sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 54 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780435613.67494226 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780435613.68509722 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780435614.23569059 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 6.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 6.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 54 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780435613.67494226 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780435613.68509722 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780435614.23569059 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 6.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 6.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 54 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780435613.67494226 seconds. ×2 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780435613.68509722 seconds ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780435614.23569059 seconds. ×2 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 6.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 6.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 45 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 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 (1.922e-05 s). + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780435615.34587455 seconds ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 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 (1.922e-05 s). + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 4.34sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 6.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 50 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780435615.90076303 seconds. ×2 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780435616.96713185 seconds ×2 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×5 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×5 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780435617.56051159 seconds. ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780435617.58706188 seconds ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780435618.16643763 seconds. ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780435618.31714845 seconds ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780435618.93268538 seconds. ×2 + 3.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 3.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780435618.97708988 seconds ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780435619.55079341 seconds. ×2 + 3.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (1.922e-05 s). + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Received new action goal + 3.79sINFOros2_control_node[2026-06-02 21:26:59.686] [info] Accepted new action goal + 5.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.42% of iterations over budget over 0:10.001 of wall time (13/3116). Below 1% is expected on a non-realtime system.[0m + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] + 6.33sINFOros2_control_node[2026-06-02 21:27:02.225] [info] Received new action goal + 6.33sINFOros2_control_node[2026-06-02 21:27:02.226] [info] Accepted new action goal | ||||